CN108941826A - Ring type vibrator automatic solder robot and its control method - Google Patents
Ring type vibrator automatic solder robot and its control method Download PDFInfo
- Publication number
- CN108941826A CN108941826A CN201811120604.4A CN201811120604A CN108941826A CN 108941826 A CN108941826 A CN 108941826A CN 201811120604 A CN201811120604 A CN 201811120604A CN 108941826 A CN108941826 A CN 108941826A
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- tin
- ring type
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- 229910000679 solder Inorganic materials 0.000 title claims abstract description 80
- 238000000034 method Methods 0.000 title claims abstract description 22
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 claims abstract description 167
- 238000005476 soldering Methods 0.000 claims abstract description 41
- 230000005540 biological transmission Effects 0.000 claims abstract description 40
- 230000033001 locomotion Effects 0.000 claims description 23
- 238000010438 heat treatment Methods 0.000 claims description 14
- 238000003466 welding Methods 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 7
- 239000007789 gas Substances 0.000 description 10
- 230000006835 compression Effects 0.000 description 6
- 238000007906 compression Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000010992 reflux Methods 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 239000003517 fume Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000004807 localization Effects 0.000 description 2
- 239000000779 smoke Substances 0.000 description 2
- 230000000391 smoking effect Effects 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000008451 emotion Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 235000000396 iron Nutrition 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 239000003507 refrigerant Substances 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
- 230000036413 temperature sense Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K3/00—Tools, devices, or special appurtenances for soldering, e.g. brazing, or unsoldering, not specially adapted for particular methods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K3/00—Tools, devices, or special appurtenances for soldering, e.g. brazing, or unsoldering, not specially adapted for particular methods
- B23K3/08—Auxiliary devices therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K3/00—Tools, devices, or special appurtenances for soldering, e.g. brazing, or unsoldering, not specially adapted for particular methods
- B23K3/08—Auxiliary devices therefor
- B23K3/087—Soldering or brazing jigs, fixtures or clamping means
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of ring type vibrator automatic solder robot and its control method, wherein the ring type vibrator automatic solder robot characterized by comprising rack, the rack are equipped with workbench；Transmission device, setting on the workbench, are used for transmission workpiece to be processed；Tin soldering equipment, including scolding tin component and the driving assembly for driving the scolding tin component mobile, the scolding tin component is arranged in the driving component, and the driving component is set on the workbench；Work fixing device, the support frame including being set on the workbench and the runing rest on support frame as described above, the runing rest is for rotating workpiece to be processed；Manipulator, setting on the workbench, are used to grab workpiece to be processed to the runing rest from the transmission device.Technical solution of the present invention realizes full-automatic loading and unloading, positioning, scolding tin, and then promotes the scolding tin quality of ring type vibrator and improve scolding tin efficiency.
Description
Technical field
The present invention relates to tin soldering robot technical field, in particular to a kind of ring type vibrator automatic solder robot and its control
Method processed.
Background technique
The signal amplifier that ring type vibrator is high as a kind of signal quality, installation cost is low, more and more extensive tunnel, building
The signal enhancing of the signals of communication poor environment such as space, confined space.But since the aluminum frame heat transfer of oscillator is fast, structure is multiple
It is miscellaneous, it is at present manual scolding tin operation.But scolding tin residence time, tin silk usage amount, scolding tin angle during manual scolding tin,
Scolding tin temperature etc. is by the technical level of operator, qualification and physical condition and emotion influence, therefore, manual soldering
Unstable quality, high rejection rate, the production efficiency of ring type vibrator are low and at high cost, can no longer meet communications market, especially
It is flood tide demand of the communications market 5G to ring type vibrator.
Summary of the invention
The main object of the present invention is to provide a kind of ring type vibrator automatic solder robot and its control method, it is intended to realize
Full-automatic loading and unloading, positioning, scolding tin, and then promote the scolding tin quality of ring type vibrator and improve scolding tin efficiency.
To achieve the above object, a kind of ring type vibrator automatic solder robot proposed by the present invention, comprising:
Rack, the rack are equipped with workbench；
Transmission device, setting on the workbench, are used for transmission workpiece to be processed；
Tin soldering equipment, including scolding tin component and the driving assembly for driving the scolding tin component mobile, the scolding tin component is set
It sets in the driving component, the driving component is set on the workbench；
Work fixing device, the support frame including being set on the workbench and the rotation branch on support frame as described above
Frame, the runing rest is for rotating workpiece to be processed；
Manipulator, setting on the workbench, are used to grab workpiece to be processed to the rotation from the transmission device
On bracket.
Preferably, the scolding tin component includes angular adjustment seat, the solder horn on the angular adjustment seat and use
In the tin feeding device for the solder horn tin material；The angular adjustment seat and the tin feeding device are arranged at the driving component
On.
Preferably, the driving component includes Y-axis moving parts, X-axis moving parts and Z axis moving parts, wherein institute
Y-axis moving parts are stated to include Y motion axis, the Y-axis sliding block being movably connected on the Y motion axis and pass with the Y-axis sliding block
The y-axis motor of dynamic connection；The X-axis moving parts include X kinematic axis, the X-axis slide block being movably connected on the X kinematic axis with
And the X-axis motor with X-axis slide block transmission connection；The Z axis moving parts include Z kinematic axis, are movably connected on the Z fortune
Z axis sliding block on moving axis and the Z axis motor with Z axis sliding block transmission connection；The Y motion axis is fixedly mounted on the work
Make on platform, the X kinematic axis is installed on the Y-axis sliding block, and the Z kinematic axis is installed in the X-axis slide block；The angle
Adjustment seat and the tin feeding device are arranged on the Z axis sliding block.
Preferably, the ring type vibrator automatic solder robot further includes temperature control device, and the temperature control device includes temperature control
Device and the heat generating core being fixed on the Z kinematic axis, wherein the temperature controller, the heat generating core successively connect with the solder horn
It connects.
Preferably, support frame as described above inclination is installed on the workbench, and the runing rest includes rotary shaft and fixation
One end of bracket, the rotary shaft is movably connected on support frame as described above, the other end of the rotary shaft and the fixed bracket
Connection；The fixed bracket is equipped with the fixture for fixing the workpiece to be processed.
Preferably, it is equipped with guide rail and mobile motor on the workbench, the guide rail is equipped with mobile sliding block, described
Mobile motor and the mobile sliding block are sequentially connected；Support frame as described above inclination is installed on the mobile sliding block.
Preferably, the ring type vibrator automatic solder robot further includes vision positioning device, the vision positioning device
Including CCD industrial camera.
The present invention also proposes a kind of control method of ring type vibrator automatic solder robot, the ring type vibrator automatic tin soldering
The control method of robot the following steps are included:
When workpiece to be processed drives to upper discharge position corresponding with manipulator, control manipulator is grabbed from the upper discharge position
Workpiece to be processed, and be placed on runing rest；
The runing rest rotation is controlled, to adjust the bond pad locations of workpiece to be processed, and controls tin soldering equipment to described
Bond pad locations carry out soldering operation；
The control runing rest rotation is repeated, to adjust the bond pad locations of workpiece to be processed, and controls weldering
The step of tin device carries out soldering operation to the bond pad locations, until all weld ddge welding of the workpiece to be processed are completed；
It controls the manipulator and grabs the workpiece to be processed from the runing rest, and it is corresponding to be placed into transmission device
Lower discharge position on.
Preferably, the step of control runing rest rotation, bond pad locations to adjust workpiece to be processed includes:
After the image information for receiving vision positioning device acquisition, the runing rest is controlled according to described image information
Rotation, to adjust the bond pad locations of workpiece to be processed.
Preferably, after the step of control runing rest rotation, bond pad locations to adjust workpiece to be processed,
Before the step of controlled tin soldering equipment carries out soldering operation to the bond pad locations, further includes:
Control heating rod preheats the bond pad locations of the workpiece to be processed.
Technical solution of the present invention by being equipped with workbench, and transmission device, tin soldering equipment, Work fixing device on the rack
It is respectively provided on the table with manipulator；Wherein tin soldering equipment includes scolding tin component and the driving for driving the scolding tin component movement
Component, the scolding tin component are arranged in the driving component, and the driving component is set on the workbench；The fixed dress of workpiece
The support frame including being set on the workbench and the runing rest on support frame as described above are set, the runing rest is for revolving
Turn workpiece to be processed；Manipulator is used to grab workpiece to be processed to the runing rest from the transmission device；By above
Setting realizes that workpiece is circulated and positioned to loading and unloading position by the automatic loading/unloading of workpiece, transmission device by manipulator,
Driving assembly butt welding tin component in tin soldering equipment, which is done, accurately to be moved, so that scolding tin component can be with the bump of workpiece to be processed
Position alignment, and then promote the scolding tin quality of ring type vibrator and improve scolding tin efficiency.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the structural schematic diagram of one embodiment of ring type vibrator automatic solder robot of the present invention；
Fig. 2 is the partial enlarged view in Fig. 1 at A；
Fig. 3 is the main view of Fig. 1；
Fig. 4 is the structural schematic diagram of the Work fixing device of ring type vibrator automatic solder robot of the present invention；
Fig. 5 is the structural schematic diagram of the driving assembly of ring type vibrator automatic solder robot of the present invention；
Fig. 6 is the structural schematic diagram of the control method first embodiment of ring type vibrator automatic solder robot of the present invention；
Fig. 7 is the structural schematic diagram of the control method second embodiment of ring type vibrator automatic solder robot of the present invention；
Fig. 8 is the structural schematic diagram of the control method 3rd embodiment of ring type vibrator automatic solder robot of the present invention.
Drawing reference numeral explanation:
| Label | Title | Label | Title |
| 10 | Rack | 11 | Workbench |
| 20 | Transmission device | 30 | Tin soldering equipment |
| 31 | Scolding tin component | 32 | Driving assembly |
| 40 | Work fixing device | 41 | Support frame |
| 42 | Runing rest | 50 | Manipulator |
| 310 | Angular adjustment seat | 311 | Solder horn |
| 312 | Tin feeding device | 320 | Y motion axis |
| 321 | X kinematic axis | 322 | Z kinematic axis |
| 60 | Temperature control device | 70 | Clear tin device |
| 420 | Rotary shaft | 421 | Fixed bracket |
| 421a | Heating rod | 13 | Guide rail |
| 14 | Mobile motor | 15 | Mobile sliding block |
| 80 | Vision positioning device |
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only used in the embodiment of the present invention
In explaining in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, if should
When particular pose changes, then directionality instruction also correspondingly changes correspondingly.
In addition, the description for being related to " first ", " second " etc. in the present invention is used for description purposes only, and should not be understood as referring to
Show or imply its relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " are defined as a result,
Two " feature can explicitly or implicitly include at least one of the features.In addition, the technical solution between each embodiment can
It to be combined with each other, but must be based on can be realized by those of ordinary skill in the art, when the combination of technical solution occurs
Conflicting or cannot achieve when, will be understood that the combination of this technical solution is not present, also not the present invention claims protection model
Within enclosing.
The present invention proposes a kind of ring type vibrator automatic solder robot, referring to figs. 1 to Fig. 5, the ring type vibrator automatic tin soldering
Robot includes:
Rack 10, the rack 10 are equipped with workbench 11；
Transmission device 20 is arranged on the workbench 11, is used for transmission workpiece to be processed；
Tin soldering equipment 30, including scolding tin component 31 and the driving assembly 32 for driving the scolding tin component 31 mobile, the weldering
Tin component 31 is arranged in the driving component 32, and the driving component 32 is set on the workbench 11；
Work fixing device 40, including the support frame 41 being set on the workbench 11 and on support frame as described above 41
Runing rest 42, the runing rest 42 is for rotating workpiece to be processed；
Manipulator 50 is arranged on the workbench 11, for grabbing workpiece to be processed to institute from the transmission device 20
It states on runing rest 42.
In embodiments of the present invention, ring type vibrator automatic solder robot is powered after starting, and workpiece to be processed is passed first
When dynamic device 20 is transmitted to discharge position, positioning cylinder is additionally provided on transmission device 20, positioning cylinder, which rises, stops work to be processed
The trend of part；Manipulator 50 grabs the workpiece to be processed from transmission device 20 at this time, and is directly placed at the fixed dress of workpiece
It sets on 40 runing rest 42；Support frame 41 supports runing rest 42, which places workpiece to be processed, driving assembly
32 driving scolding tin components 31 are moved to the position of workpiece to be processed, and scolding tin component 31 carries out scolding tin to the bump of workpiece to be processed
Work；When the bump position for needing to change workpiece to be processed, controls runing rest 42 and rotate angle, until workpiece to be processed
Until all bumps all complete scolding tin, workpiece grabbing that last manipulator 50 completes scolding tin is simultaneously placed on transmission device 20,
Workpiece circulation will be completed to subsequent processing Working position in transmission device 20.With the above arrangement, ring type vibrator tin soldering robot
It realizes full-automatic loading and unloading, positioning, scolding tin, and is done by 32 butt welding tin component 31 of driving assembly and accurately moved, so that scolding tin
Component 31 can with the bump position alignment of workpiece to be processed, and then promoted ring type vibrator scolding tin quality and improve scolding tin effect
Rate.In the present embodiment, transmission device 20 use assembly line, assembly line be in fact divided into part workpiece flow into assembly line and
The jig reflux assembly line of lower part；Wherein workpiece flows into assembly line and will flow into together to scolding tin workpiece and localization tool, welds
After the completion of tin, scolding tin is completed into workpiece and localization tool flows out together；And jig reflux assembly line is after taking scolding tin workpiece away
Empty jig reflux.Wherein workpiece flows into assembly line and includes driving motor, supplied materials jig positioning cylinder, supplied materials jig baffle, passes
Moving axis, driving belt and driving belt tensioning wheel, on the driving belt that workpiece is placed on assembly line, driving motor driving is passed
Moving axis rotation, transmission shaft drive driving belt rotation, and such workpiece can be rotated with driving belt and be moved, and driving belt is tensioned
Wheel can adjust the tensioning degree of driving belt according to the demand of user；Jig reflux assembly line includes driving motor, driving chain
With driving chain tensioning block, driving motor and driving chain are sequentially connected, and driving motor drives driving chain rotation, so that transmission
Chain can drive jig mobile.Transmission device 20 can use the combination of gear and conveyer belt, can also use motor, drive shaft
With the combination of conveying sliding block；In the present embodiment, support frame 41 is used to support runing rest 42, and runing rest 42 is for putting
Workpiece to be processed is set, and workpiece to be processed can be rotated by a certain angle, to change the bump position of workpiece to be processed, by changing
Become the angles and positions of workpiece to be processed, is not necessarily to 31 moving in rotation of scolding tin component.Manipulator 50 is six axis loading and unloading manipulators
50, and the front end of manipulator 50 is equipped with the handgrip for grabbing workpiece, the flexibility of elevating mechanism hand 50.In order to preferably to machine
Each device of device people is accurately controlled, setting control cabinet and the industry control in the control cabinet in rack 10
Machine, and the industrial personal computer is electrically connected with transmission device 20, scolding tin component 31, Work fixing device 40 and manipulator 50, it is right
The instruction of above-mentioned apparatus sending action, further improves the scolding tin precision and intelligence of ring type vibrator automatic solder robot.
Ring type vibrator automatic solder robot further includes the fume extracting device being fixedly mounted on driving assembly 32, the smoking of the fume extracting device
Cover is directed to scolding tin component 31, and when starting fume extracting device, smoking cover can take in time the smog that scolding tin component 31 generates away, and be taken out
Smog discharges after being uniformly processed by the smoke extracting tube road that workshop is equipped with, and can also individually be located by the smoke filter being independently equipped with
It is discharged after reason, so set, being further reduced the pollution of processing environment.It is additionally provided with shield in the rack 10, for protecting
Workpiece is influenced in process from the external world, and shield is equipped with the touch screen displays with industry control mechatronics, and control is pressed
Button and three color warning lamps, touch screen displays are configured for parameter of the user to each device, and control button is used for industry control
Machine is actuated for controlling, and three color warning lamps are industrial personal computer sendings when receiving the abnormal signal of any device in robot
Alarm instruction light.In the present embodiment, industrial personal computer, which is also electrically connected with, receives Material Sensor, the abnormal sensing of scolding tin position positioning
Device, kinematic axis malposition sensor, 311 scolding tin temperature anomaly sensor of solder horn and workpiece preheating temperature sense extremely
Device, these sensors are arranged on the device for needing to incude accordingly, the data incuded to industrial personal computer timing feedback, so that entirely
The control of ring type vibrator automatic solder robot more precisely and automates.
Technical solution of the present invention in rack 10 by being equipped with workbench 11, and transmission device 20, tin soldering equipment 30, workpiece
Fixed device 40 and manipulator 50 are arranged on workbench 11；Wherein tin soldering equipment 30 includes described in scolding tin component 31 and driving
The mobile driving assembly 32 of scolding tin component 31, the scolding tin component 31 are arranged in the driving component 32, the driving component
32 are set on the workbench 11；Work fixing device 40 includes the support frame 41 on the workbench 11 and is set to described
Runing rest 42 on support frame 41, the runing rest 42 is for rotating workpiece to be processed；Manipulator 50 is used for from the biography
Dynamic device 20 grabs on workpiece to be processed to the runing rest 42；With the above arrangement, realizing workpiece by manipulator 50
Workpiece is circulated and is positioned to loading and unloading position by automatic loading/unloading, transmission device 20, the driving assembly in tin soldering equipment 30
32 butt welding tin components 31, which are done, accurately to be moved so that scolding tin component 31 can with the bump position alignment of workpiece to be processed, in turn
It promotes the scolding tin quality of ring type vibrator and improves scolding tin efficiency.
Preferably, referring to figs. 1 to Fig. 5, the scolding tin component 31 includes angular adjustment seat 310, is set to the angular adjustment
Solder horn 311 on seat 310 and the tin feeding device 312 for supplying the 311 tin material of solder horn；The angular adjustment seat 310
It is arranged in the driving component 32 with the tin feeding device 312.In the present embodiment, angular adjustment seat 310 is adjustable irons
The scolding tin angle of iron head 311, and angular adjustment seat 310 and industry control mechatronics；When workpiece to be processed is placed on by manipulator 50
On runing rest 42, industrial personal computer controls angle adjustment seat 310 and adjusts rotation angle, to allow solder horn 311 and workpiece to be processed position
Set correspondence.The angular adjustment seat 310 is curved angle adjustment seat 310.Tin feeding device 312 includes being installed on driving assembly 32
On send and send the tin outputting tube of tin component main body described in tin component main body and connection, the outlet end of the tin outputting tube is fixed at angle
It spends in adjustment seat 310, and the outlet of the tin outputting tube is directed at solder horn 311.In the present embodiment, it is arranged 3 on angular adjustment seat 310
A solder horn 311 further speeds up the tin feeding speed of tin feeding device 312 to the last bump while scolding tin of workpiece to be processed
With the tin feeding amount for increasing tin feeding device 312, it on the other hand can accurately adjust the tin feeding speed of different solder horns 311 and send tin
Amount.Specifically, tin component main body is sent to include sequentially connected volume tin axis, send tinware, broken tinware and send tin syringe needle.
Further, referring to figs. 1 to Fig. 5, the driving component 32 includes Y-axis moving parts, X-axis moving parts and Z
Axis moving parts, wherein the Y-axis moving parts include Y motion axis 320, the Y-axis sliding block that is movably connected on the Y motion axis
And the y-axis motor with Y-axis sliding block transmission connection；The X-axis moving parts include X kinematic axis 321, are movably connected on institute
State the X-axis slide block on X kinematic axis 321 and the X-axis motor with X-axis slide block transmission connection；The Z axis moving parts include
Z kinematic axis 322, the Z axis sliding block being movably connected on the Z kinematic axis 322 and the Z axis with Z axis sliding block transmission connection
Motor；The Y motion axis 320 is fixedly mounted on the workbench 11, and the X kinematic axis 321 is installed in the Y-axis sliding block
On, the Z kinematic axis 322 is installed in the X-axis slide block；The angular adjustment seat 310 and the tin feeding device 312 are respectively provided with
On the Z axis sliding block.Specifically, Y motion axis 320 is fixedly mounted on workbench 11, for installing support X kinematic axis 321.
Industrial personal computer control y-axis motor driving Y-axis sliding block reciprocatingly moves from bottom to top along Y motion axis 320, and connects with Y-axis sliding block
The X kinematic axis 321 connect is moved with Y motion axis 320；And then, industrial personal computer controls X-axis motor control X-axis slide block along X kinematic axis again
321 slidings, finally control Z axis motor driven Z axis sliding block again and move along Z kinematic axis 322；Angular adjustment seat 310 and tin feeding device
312 under the movement of X, Y, Z kinematic axis, to allow angular adjustment seat 310 and tin feeding device 312 to realize the change in location in space, and
It allows the scolding tin component 31 on angular adjustment seat 310 also to have change in location, further reaches more accurately position displacement, promote annular
The scolding tin precision of oscillator automatic solder robot.Preferably, servo motor or stepper motor can be used in X, Y, Z axis motor.
Further, referring to Fig.1,4 and Fig. 5, the ring type vibrator automatic solder robot further include temperature control device 60, institute
The heat generating core (not indicating) that temperature control device 60 includes temperature controller (not indicating) and is fixed on the Z kinematic axis 322 is stated, wherein institute
Temperature controller, the heat generating core and the solder horn 311 is stated to be sequentially connected.In the present embodiment, industrial personal computer is electrically connected with temperature controller,
Temperature controller is controlled using industrial personal computer, to carry out temperature control to solder horn 311 and heat generating core；It is preferred that using three temperature controllers and
Three groups of heat generating cores are arranged in a one-to-one correspondence with three solder horns 311 respectively, further accurately adjust the heating of different solder horns 311
Rate, scolding tin temperature and scolding tin time；And the heat generating core being electrically connected with temperature controller to the workpiece being placed on runing rest 42 into
Row heating in advance, thus the scolding tin quality of lifting workpieces；And the solder horn 311 connecting with heat generating core can also simultaneously heat workpiece
Scolding tin further speeds up scolding tin speed.
Further, referring to Fig.1,4 and Fig. 5, the ring type vibrator automatic solder robot further includes described for removing
The clear tin device 70 of the scruff of solder horn 311 and cooling 311 temperature of solder horn, the clear tin device 70 are set on workbench 11.
In the present embodiment, clear tin device 70 includes clear tin box, clear tin hairbrush, clear tin hair brush motor and clear tin compression gas pipe, and clear tin
Hairbrush, clear tin hair brush motor and clear tin compression gas pipe are set in clear tin box, and clear tin hairbrush and clear tin hair brush motor are sequentially connected,
Clear tin compression gas pipe is connect with external refrigerant gas tank, and the outlet of clear tin compression gas pipe is correspondingly arranged with solder horn 311；Work as scolding tin
After the completion of work, solder horn 311 back into clear tin box position, and clear tin hair brush motor drives clear tin hairbrush rotation, by solder horn 311
Upper remaining scruff cleans down, and hereafter the compression cold air of clear tin compression gas pipe blowout is rapidly cooled solder horn 311, with
Improve the service life of solder horn 311.
Further, referring to Fig.1,4 and Fig. 5, the inclination of support frame as described above 41 is installed on the workbench 11, the rotation
Bracket 42 includes rotary shaft 420 and fixed bracket 421, and one end of the rotary shaft 420 is movably connected on support frame as described above 41,
The other end of the rotary shaft 420 is connect with the fixed bracket 421；The fixed bracket 421 is equipped with for described in fixation
The fixture (not shown) of workpiece to be processed.In the present embodiment, the inclination of support frame 41 is installed in workbench 11, is convenient for runing rest
Workpiece on 42 fixation bracket 421 can be relatively corresponding with solder horn 311 in advance, reduces the angle tune of solder horn 311 and workpiece
The whole time；After scolding tin work is completed in a weld ddge of workpiece to be processed, industrial personal computer controls the rotation of rotary shaft 420 immediately, so that
The position of the changeable weld ddge for needing to process of the workpiece to be processed on fixation bracket 421 connecting with rotary shaft 420, allows to be processed
The weld ddge that the needs of workpiece are processed remains horizontal equilibrium, carries out scolding tin to its weld ddge convenient for solder horn 311；And in fixed branch
It is additionally provided with fixture on frame 421, so as to workpiece to be processed of the fixed placement on fixed bracket 421；In addition driving can be arranged in fixture
Cylinder controls it so as to industrial personal computer, realizes automation clamping.In the present embodiment, support frame 41 is preferably formed with workbench 11
45 degree of angle settings, and rotary shaft 420 is rotated by 90 ° angle every time and comes so that the weld ddge of workpiece to be processed keeps horizontal equilibrium.Support
Frame 41 be equipped with scruff box, the scruff box be equipped with universal gas blow pipe and arrive level detection sensor, and the universal gas blow pipe and
It is electrically connected respectively with touch screen displays to level detection sensor, so that user can blow universal gas blow pipe by touch screen displays
It the gas time and is configured to the distance in place of level detection sensor.
Further, referring to Fig.1,4 and Fig. 5, the fixed bracket 421 is equipped with multiple heating rod 421a, the heating rod
421a is used to preheat workpiece to be processed.After workpiece to be processed is placed on fixed bracket 421 by manipulator 50, industrial personal computer
Heating rod 421a starting heating is controlled, so that workpiece to be processed can promote rapidly own temperature, so that solder can rapidly melt
And it is attached to bump, further speed up scolding tin speed.Preferably, 4 heating rod 421a, and 4 are provided on fixed bracket 421
A heating rod 421a, which encloses, to be set to form rhombogen.
Further, referring to Fig.1,4 and Fig. 5, guide rail 13 and mobile motor 14 are equipped on the workbench 11, it is described
Guide rail 13 is equipped with mobile sliding block 15, and the mobile motor 14 is sequentially connected with the mobile sliding block 15；Support frame as described above 41 inclines
Angle mount is set on the mobile sliding block 15.In the present embodiment, when manipulator 50 is to be added from the crawl of the upper discharge position of assembly line
When work workpiece, industrial personal computer controls the mobile motor 14 on workbench 11 simultaneously and mobile sliding block 15 is driven to slide on guide rail 13, and
The support frame 41 connecting with mobile sliding block 15 is also mobile toward the lower discharge position of manipulator 50 therewith, so that being located at consolidating for support frame 41
Fixed rack 421 can reduce the moving distance of manipulator 50, while decreasing solder horn with the quickly corresponding position of manipulator 50
311 amount of movement further speeds up the processing rhythm of entire robot.Preferably, support frame 41 and mobile sliding block 15 form 45
Spend angle setting.
Further, referring to Fig.1,4 and Fig. 5, the ring type vibrator automatic solder robot further includes vision positioning device
80, the vision positioning device 80 includes CCD industrial camera (not indicating).In the present embodiment, ring type vibrator automatic tin welding machine
Device people is powered after starting, and industrial personal computer controls CCD industrial camera and carries out to manipulator 50, tin soldering equipment 30 and Work fixing device 40
It takes pictures, the operating software of ring type vibrator automatic solder robot is installed on industrial personal computer, graphics process is equipped in the operating software
Module is analyzed and processed and judges to CCD industrial camera acquired image；Industrial personal computer according to its judging result in turn
Movement to manipulator 50, tin soldering equipment 30 and Work fixing device 40, to reach that workpiece to be processed and tin soldering equipment 30 is right
Answer position accurate.Vision positioning device 80 further includes the driving structure of LED cold light source and driving CCD industrial camera movement, the drive
To suitable position, LED cold light source provides most preferably for the device being photographed for dynamic structure driving LED cold light source and CCD industrial camera
Light environment, and CCD industrial camera can shoot clearer shooting angle to the device that is photographed.
Referring to Fig. 6, the present invention also proposes a kind of first embodiment of the control method of ring type vibrator automatic solder robot,
In the present embodiment, the control method of the ring type vibrator automatic solder robot the following steps are included:
S10: when workpiece to be processed is driven to 50 corresponding upper discharge position of manipulator, manipulator 50 is controlled from the feeding
Position grabs workpiece to be processed, and is placed on runing rest 42；
It is provided with industrial personal computer in ring type vibrator automatic solder robot described in the present embodiment, and control machine is set in rack
Cabinet and the industrial personal computer in the control cabinet；In one embodiment, the industrial personal computer and transmission device 20, scolding tin component 31,
Work fixing device 40 and manipulator 50 are electrically connected, and are instructed to above-mentioned apparatus sending action, are further improved ring
The scolding tin precision and intelligence of shape oscillator automatic solder robot.In another embodiment, industrial personal computer and transmission device 20, scolding tin
Component 31, Work fixing device 40 are electrically connected, and manipulator is equipped with single-chip microcontroller, which controls the movement of manipulator, and
The single-chip microcontroller and industry control mechatronics are arranged such single-chip microcontroller and are subjected to the action command information from industrial personal computer, to control
Manipulator makes corresponding movement.The workpiece to be processed circulates and positions upper material position corresponding to manipulator 50 by transmission device 20
It sets, industrial personal computer controls manipulator 50 and grabs workpiece to be processed from upper discharge position；Before above-mentioned steps, the industrial personal computer of robot is certainly
Open state is examined, if open state is normal, restores to work normally into the next step；If open state is abnormal, directly
Normal work is exited in alarm.On the fixation bracket 421 that workpiece to be processed is placed on runing rest 42 by manipulator 50, fixed branch
Fixture 421a on frame 421 can be clamped workpiece to be processed, to fix the position of workpiece to be processed.It is complete in tin soldering equipment 30
After the scolding tin work of pairs of workpiece to be processed, fixture 421a then unclamps workpiece.
S20: it controls the runing rest 42 and rotates, to adjust the bond pad locations of workpiece to be processed, and control tin soldering equipment
30 pairs of bond pad locations carry out soldering operation；
After workpiece to be processed is placed on runing rest 42 by manipulator 50, industrial personal computer just controls runing rest 42 immediately
Rotary shaft 421 turns an angle, so that the weld ddge of workpiece to be processed is also rotated to horizontal position, so as to 30 butt welding of tin soldering equipment
The solder joint on side is welded.
S30: repeating the control runing rest 42 and rotate, to adjust the bond pad locations of workpiece to be processed, and
The step of tin soldering equipment 30 carries out soldering operation to the bond pad locations is controlled, until all weld ddge welding of the workpiece to be processed
It completes；
After tin soldering equipment 30 completes scolding tin work to a weld ddge of workpiece to be processed, scolding tin is sent to industrial personal computer and completes letter
Number, industrial personal computer then controls runing rest and is rotated further by certain angle immediately, is such as rotated by 90 °, so that other weld ddges of workpiece to be processed
It can rotate one by one to horizontal position, so that tin soldering equipment 30 can one by one weld all weld ddges of workpiece to be processed.
S40: it controls the manipulator 50 and grabs the workpiece to be processed from the runing rest 42, and be placed into transmission
In the corresponding lower discharge position of device 20.
In the present embodiment, after the solder joint of all weld ddges of workpiece completes scolding tin, industrial personal computer just controls manipulator 50
Grabbed to runing rest 42 is placed on, realize be completed workpiece automatic blanking movement, the automation of hoisting machine people and
Working efficiency.
Further, referring to Fig. 7, the present invention also proposes the of the control method of a kind of ring type vibrator automatic solder robot
Two embodiments, the present embodiment are based on above-mentioned embodiment illustrated in fig. 6, and the control runing rest 42 rotates, to be added to adjust
The step of bond pad locations of work workpiece includes:
S201: after the image information for receiving the acquisition of vision positioning device 80, according to the control of described image information
Runing rest 42 rotates, to adjust the bond pad locations of workpiece to be processed.
In the present embodiment, in order to further enhance the processing precision of ring type vibrator automatic solder robot, setting view
Feel positioning device 80 and industry control mechatronics, in this way, after industrial personal computer receives the image information of vision positioning device 80, industry control
Machine can be compared according to image information with preset location drawing picture information, obtain comparison result and the corresponding movement of output refers to
It enables；And runing rest 42 carries out the rotation of respective angles under the control of the action command.
Further, referring to Fig. 8, the present invention also proposes the of the control method of a kind of ring type vibrator automatic solder robot
Three embodiments, the present embodiment are based on above-mentioned embodiment illustrated in fig. 6, and the control runing rest 42 rotates, to be added to adjust
After the step of bond pad locations of work workpiece, controlled tin soldering equipment 30 to the bond pad locations carry out soldering operation the step of it
Before, further includes:
S202: control heating rod 421b preheats the bond pad locations of the workpiece to be processed.In the present embodiment, heating rod
421b heats the workpiece to be processed being located on runing rest 42 in advance, so that there is the workpiece to be processed of certain temperature can also
A little solder is melted, the heating temperature of solder horn is further reduced, accelerates the scolding tin speed of solder horn.
The above description is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all at this
Under the inventive concept of invention, using equivalent structure transformation made by description of the invention and accompanying drawing content, or directly/use indirectly
It is included in other related technical areas in scope of patent protection of the invention.
Claims (10)
1. a kind of ring type vibrator automatic solder robot characterized by comprising
Rack, the rack are equipped with workbench；
Transmission device, setting on the workbench, are used for transmission workpiece to be processed；
Tin soldering equipment, including scolding tin component and the driving assembly for driving the scolding tin component mobile, the scolding tin component setting exists
In the driving component, the driving component is set on the workbench；
Work fixing device, the support frame including being set on the workbench and the runing rest on support frame as described above, institute
Runing rest is stated for rotating workpiece to be processed；
Manipulator, setting on the workbench, are used to grab workpiece to be processed to the runing rest from the transmission device
On.
2. ring type vibrator automatic solder robot as described in claim 1, which is characterized in that the scolding tin component includes angle
Adjustment seat, the solder horn on the angular adjustment seat and the tin feeding device for supplying the solder horn tin material；The angle
Degree adjustment seat and the tin feeding device are arranged in the driving component.
3. ring type vibrator automatic solder robot as claimed in claim 2, which is characterized in that the driving component includes Y-axis
Moving parts, X-axis moving parts and Z axis moving parts, wherein the Y-axis moving parts include Y motion axis, are movably connected on
Y-axis sliding block on the Y motion axis and the y-axis motor with Y-axis sliding block transmission connection；The X-axis moving parts include X
Kinematic axis, the X-axis slide block being movably connected on the X kinematic axis and the X-axis motor with X-axis slide block transmission connection；Institute
Z axis moving parts are stated to include Z kinematic axis, the Z axis sliding block being movably connected on the Z kinematic axis and pass with the Z axis sliding block
The Z axis motor of dynamic connection；The Y motion axis is fixedly mounted on the workbench, and it is sliding that the X kinematic axis is installed in the Y-axis
On block, the Z kinematic axis is installed in the X-axis slide block；The angular adjustment seat and the tin feeding device are arranged at the Z
On axis sliding block.
4. ring type vibrator automatic solder robot as claimed in claim 3, which is characterized in that the ring type vibrator automatic tin soldering
Robot further includes temperature control device, and the temperature control device includes temperature controller and the heat generating core that is fixed on the Z kinematic axis, wherein
The temperature controller, the heat generating core and the solder horn are sequentially connected.
5. ring type vibrator automatic solder robot as described in claim 1, which is characterized in that support frame as described above inclination is installed in
On the workbench, the runing rest includes rotary shaft and fixed bracket, and one end of the rotary shaft is movably connected on described
On support frame, the other end of the rotary shaft is connect with the fixed bracket；The fixed bracket is equipped with for described in fixation
The fixture of workpiece to be processed.
6. ring type vibrator automatic solder robot as claimed in claim 5, which is characterized in that be equipped with lead on the workbench
Rail and mobile motor, the guide rail are equipped with mobile sliding block, and the mobile motor and the mobile sliding block are sequentially connected；It is described
Support frame inclination is installed on the mobile sliding block.
7. ring type vibrator automatic solder robot as described in claim 1, which is characterized in that the ring type vibrator automatic tin soldering
Robot further includes vision positioning device, and the vision positioning device includes CCD industrial camera.
8. a kind of control method of ring type vibrator automatic solder robot, which is characterized in that the ring type vibrator automatic tin welding machine
The control method of device people the following steps are included:
When workpiece to be processed drives to upper discharge position corresponding with manipulator, control manipulator is to be added from the upper discharge position crawl
Work workpiece, and be placed on runing rest；
The runing rest rotation is controlled, to adjust the bond pad locations of workpiece to be processed, and controls tin soldering equipment to the solder joint
Position carries out soldering operation；
The control runing rest rotation is repeated, to adjust the bond pad locations of workpiece to be processed, and controls scolding tin dress
The step of soldering operation is carried out to the bond pad locations is set, until all weld ddge welding of the workpiece to be processed are completed；
Control the manipulator and grab the workpiece to be processed from the runing rest, and be placed into transmission device it is corresponding under
In discharge position.
9. the control method of ring type vibrator automatic solder robot as claimed in claim 8, which is characterized in that the control institute
State runing rest rotation, the step of bond pad locations to adjust workpiece to be processed includes:
After the image information for receiving vision positioning device acquisition, the runing rest is controlled according to described image information and is turned
It is dynamic, to adjust the bond pad locations of workpiece to be processed.
10. the control method of ring type vibrator automatic solder robot as claimed in claim 8, which is characterized in that the control
After the step of runing rest rotation, bond pad locations to adjust workpiece to be processed, controlled tin soldering equipment is to the weldering
Before the step of point position carries out soldering operation, further includes:
Control heating rod preheats the bond pad locations of the workpiece to be processed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811120604.4A CN108941826B (en) | 2018-09-21 | Automatic soldering robot for annular vibrator and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811120604.4A CN108941826B (en) | 2018-09-21 | Automatic soldering robot for annular vibrator and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108941826A true CN108941826A (en) | 2018-12-07 |
| CN108941826B CN108941826B (en) | 2024-07-30 |
Family
ID=
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| CN109551140A (en) * | 2018-12-20 | 2019-04-02 | 深圳供电局有限公司 | Movable welding robot for superconducting welding |
| CN111644720A (en) * | 2020-08-04 | 2020-09-11 | 上海上飞飞机装备制造有限公司 | Automatic assembling device and welding process for fuse base |
| CN112355424A (en) * | 2020-09-16 | 2021-02-12 | 扬州工业职业技术学院 | Automatic welding machine based on machine vision control |
| CN112872640A (en) * | 2021-01-21 | 2021-06-01 | 日照中意华坤金属制造有限公司 | Iron art decoration frame welding manufacturing system |
| CN113334004A (en) * | 2021-05-28 | 2021-09-03 | 常州安一智能科技有限公司 | Multi-station welding system suitable for welding low-frequency oscillator and working method thereof |
| CN114932284A (en) * | 2022-06-29 | 2022-08-23 | 佛山市诺亨科技有限公司 | Four-station laser automatic tin soldering equipment applied to PCB |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109551140A (en) * | 2018-12-20 | 2019-04-02 | 深圳供电局有限公司 | Movable welding robot for superconducting welding |
| CN109551140B (en) * | 2018-12-20 | 2023-10-31 | 深圳供电局有限公司 | Movable welding robot for superconducting welding |
| CN111644720A (en) * | 2020-08-04 | 2020-09-11 | 上海上飞飞机装备制造有限公司 | Automatic assembling device and welding process for fuse base |
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| CN112872640B (en) * | 2021-01-21 | 2023-10-03 | 日照中意华坤金属制造有限公司 | Iron art decorative frame welding manufacturing system |
| CN113334004A (en) * | 2021-05-28 | 2021-09-03 | 常州安一智能科技有限公司 | Multi-station welding system suitable for welding low-frequency oscillator and working method thereof |
| CN114932284A (en) * | 2022-06-29 | 2022-08-23 | 佛山市诺亨科技有限公司 | Four-station laser automatic tin soldering equipment applied to PCB |
| CN114932284B (en) * | 2022-06-29 | 2023-08-01 | 佛山市诺亨科技有限公司 | Four-station laser automatic soldering equipment applied to PCB |
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