CN113571987B

CN113571987B - Robot for wire bonding

Info

Publication number: CN113571987B
Application number: CN202110777884.1A
Authority: CN
Inventors: 郑军; 毕江海; 王继军; 陈浙泊; 王振文; 施亚辉; 董建林; 秦俊非; 付彬; 李慧忠; 邵园园; 曹英德; 王蒙; 孙乐涛; 潘凌锋
Original assignee: Research Institute of Zhejiang University Taizhou; China Railway Construction Electrification Bureau Group Co Ltd; Third Engineering Co Ltd of China Railway Construction Electrification Bureau Group Co Ltd
Current assignee: Research Institute of Zhejiang University Taizhou; China Railway Construction Electrification Bureau Group Co Ltd; Third Engineering Co Ltd of China Railway Construction Electrification Bureau Group Co Ltd
Priority date: 2021-07-09
Filing date: 2021-07-09
Publication date: 2024-04-12
Anticipated expiration: 2041-07-09
Also published as: CN113571987A

Abstract

The invention provides a robot for wire bonding, which comprises a wire frame, an electric control vertical frame, a sliding table, an image acquisition device, a first manipulator, a second manipulator and a sleeve device, wherein the wire frame is arranged on the electric control vertical frame; the first mechanical arm, the second mechanical arm and the sleeve device are respectively connected with a sliding table through a sliding structure, the sliding table is connected with the electric control stand through the sliding structure, and the sliding structure is a ball screw structure; the image acquisition device is arranged on the first manipulator or the second manipulator; the lead frame is fixedly arranged on the signal cabinet to be welded; the wire is taken down from the lead frame through setting up on the first manipulator to work such as the wire cutting of wire, wire stripping can be realized through the second manipulator, the automation of welding process is realized, raise the efficiency.

Description

Robot for wire bonding

Technical Field

The invention relates to the field of intelligent control, in particular to a robot for wire bonding.

Background

In the current railway industry, as a large number of railway signal devices exist, a large amount of data needs to be processed, a signal machine room is usually arranged, and centralized management and control of the data are realized. The signal machine room is used as a heart of a signal system, has important significance in other intelligent communication fields, and particularly aims at an environment where a large amount of data needs to be transmitted and processed.

In the design and installation process of the railway signal machine room, design requirements are met for the temperature, humidity, ventilation conditions, noise and the like of the machine room, and because whether the signal machine room is safe or not, the site and even the normal operation of a plurality of railway lines can be directly influenced. The construction process of constructors can be strictly controlled.

There are a large number of communication lines in the signal room. For these communication lines, wiring is currently done by manual welding by a worker. Wherein in order to make things convenient for the workman to distinguish different cables, also in order to make things convenient for work such as checking, can cup joint corresponding spouting the sign indicating number pipe to every communication line, accomplish welding work again. In the wiring process of the machine room, the space of the cabinet is small, so that the wiring to be processed is more, and even if the assistance of the code spraying pipe exists, the welding error is very easy to occur; in a narrow cabinet space, a large amount of wiring arrangement and classification work is completed, and the work load is extremely large for constructors; therefore, the wiring work of the machine room brings higher requirements for convenience of experience, tolerance, physical strength and the like of constructors.

On the other hand, due to the uncertainty of welding, the condition of cold joint can occur, and the work of a machine room can be directly influenced, so that a complicated verification process can be carried out after the signal machine room is arranged. There is thus an urgent need for a device that can automatically complete welding and that can perform communication verification of the wiring.

Disclosure of Invention

The invention aims to solve the defects of the prior art and provides a robot for wire bonding.

In order to solve the problems, the invention adopts the following technical scheme:

a robot for wire bonding comprises a lead frame, an electric control vertical frame, a sliding table, an image acquisition device, a first manipulator, a second manipulator and a sleeve device; the first mechanical arm, the second mechanical arm and the sleeve device are respectively connected with a sliding table through a sliding structure, the sliding table is connected with the electric control stand through the sliding structure, and the sliding structure is a ball screw structure; the image acquisition device is arranged on the first manipulator or the second manipulator; the lead frame is fixedly arranged on the signal cabinet to be welded.

Further, the electric control vertical frame comprises a box body, a moving plate and a control module; wherein the control module is arranged in the box body; the moving plate is arranged on one side surface of the box body and is vertically arranged; the control module adopts a programmable singlechip, is used for controlling the actions of the first manipulator, the second manipulator and the sliding table, is also connected with the image acquisition device, and processes and identifies the image acquired by the image acquisition device.

Further, the moving plate is used for being connected with the sliding table; a vertical ball screw structure is arranged on the moving plate; the vertical ball screw structure comprises a vertical motor, a vertical screw and a vertical ball nut; the vertical screw rod is arranged in the Y direction; two ends of the vertical screw rod are respectively connected with the moving plate through bearings; one end of the vertical screw rod is also provided with a vertical motor; the vertical ball nut is arranged on the vertical screw rod through a ball; the vertical ball nut is also connected with the sliding table.

Further, the sliding table comprises a moving frame and a transverse ball screw structure; the transverse ball screw structure is arranged on the moving frame; the moving frame is connected with a sliding block on a sliding rail arranged on the moving plate; the transverse ball screw structure is connected with the first manipulator or the second manipulator; the transverse ball screw structure comprises a transverse motor, a transverse screw and a transverse ball nut; the transverse screw rod is positioned in the Z direction; the transverse screw rod is also connected with the moving frame through a bearing; the transverse motor is arranged on the moving frame.

Further, the first manipulator comprises a first traversing seat, a first rotating block and a first clamping device; the first rotating block is hinged to the first transverse moving seat and can rotate around the hinged part; a rotating motor is arranged at the hinge joint part of the first rotating block and the first transverse moving seat;

The first clamping device comprises a first supporting frame, a second supporting frame, a welding device, a wire traction structure and a first clamping structure; the second support frame is arranged on the first support frame in a sliding way through a screw rod structure; the welding device is arranged on the upper side plate of the second supporting frame in a sliding manner; the first clamping structure of the shearing clamping structure is arranged on the lower side plate of the second supporting frame in a sliding manner; the lead traction structure is arranged on the second support frame; the first supporting frame is arranged in the hollowed-out part of the first installation part of the first rotating block;

the welding device comprises a screw rod structure II and a welding wire traction device; the second lead screw structure is arranged between the welding wire traction device and the upper side plate of the second supporting frame and is used for controlling the relative displacement between the welding wire traction device and the second supporting frame;

the welding wire traction device comprises a base plate, a welding head, a guide tube, a guide motor, a guide wheel and a welding wire wheel; the bottom of the base plate is connected with a ball nut of the screw rod structure II; the guide tube, the guide motor, the guide wheel and the welding wire wheel are all arranged on the substrate; the welding head is arranged on the side surface of the substrate; wherein the guide tube, the guide motor and the guide wheel are used for dragging the welding wire; the welding wire wheel is used for storing welding wires; the welding head is used for welding the welding wire;

The wire traction structure is arranged on the first supporting frame and comprises a limiting head and a connecting base, wherein the limiting head and the connecting base are integrally manufactured, and the connecting base is arranged between the limiting head and the first supporting frame; the limiting head is used for limiting the movement space of the lead;

the first clamping structure comprises a first connecting plate, a screw rod structure III, a first pneumatic finger and a first wire clamp; the screw rod structure III is arranged on the lower side plate of the second supporting frame; the first pneumatic finger is arranged at one end of the first connecting plate, the other end of the first connecting plate is connected with a ball nut of a screw rod structure III, the ball nut of the screw rod structure III is further arranged on a sliding rail of the lower side plate through a sliding block, and the screw rod structure III is used for controlling the relative movement between the first connecting plate and the second supporting frame; the first wire clamp is arranged on the clamping jaw of the first pneumatic finger.

Further, a V-shaped notch is formed in one side of the welding head, and an arc groove is formed in the bottom of the V-shaped notch; the V-shaped notch is connected with a channel arranged in the welding head; the guide pipe is arranged on the substrate in a bonding way, one end of the guide pipe is close to the guide wheel, and the other end of the guide pipe is inserted into the welding head; the guide tube is communicated with the channel inside the welding head to reach the V-shaped notch part of the welding head; the welding wire wheel is arranged at one end of the first folded plate far away from the second folded plate and is connected with the first folded plate through the support frame; the support frame is hinged with two ends of the welding wire wheel and is fixedly connected with the base plate; a U-shaped notch is arranged on the support frame; hinge posts are arranged at two ends of the welding wire wheel, and the hinge posts are arranged in the U-shaped notch.

Further, the method comprises the steps of,

the second manipulator comprises a second traversing seat, a second rotating block and a second clamping device; the second rotating block is arranged on the second transverse moving seat; the second clamping device is arranged on the second rotating block; the second transverse moving seat and the second rotating block are hinged, and a rotating motor is arranged at the hinge part of the second rotating block and the second transverse moving seat;

the second clamping device comprises a third supporting frame, a fourth supporting frame, a first shearing clamping structure, a second shearing clamping structure and a second clamping structure; the bottom plate of the fourth supporting frame is arranged on a ball nut of a screw rod structure IV on the third supporting frame; the first shearing clamping structure is arranged on the upper side plate of the fourth supporting frame; the second shearing clamping structure is arranged at one end, close to each other, of the upper side plate and the lower side plate of the fourth supporting frame; the second clamping structure is arranged on the lower side plate of the fourth supporting frame;

the first shearing clamping structure comprises a second connecting plate, a screw rod structure five, a pneumatic finger two, a lifting cylinder one, a lifting cylinder two and a wire clamp two; the screw rod structure is arranged on the upper side plate of the fourth supporting frame; the pneumatic finger II is arranged at one end of the second connecting plate, the other end of the second connecting plate is connected with a ball nut of the screw rod structure V, the ball nut of the screw rod structure V is further arranged on a sliding rail through a sliding block, and the sliding rail is fixedly connected with a motor of the screw rod structure V; the second wire clamp is arranged on the second pneumatic finger; the lifting cylinder I is arranged between the upper side plate of the fourth supporting frame and the motor of the screw rod structure V; the lifting cylinder II is arranged between the upper side plate of the fourth supporting frame and the second connecting plate;

The second shearing and clamping structure comprises a pneumatic finger III and a wire clamp III, wherein the pneumatic finger III is arranged on a fixed seat at one end, close to the upper side plate and the lower side plate, of the fourth supporting frame; the wire clamp III is arranged on the pneumatic finger III;

the second clamping structure comprises a third connecting plate, a screw rod structure six, a pneumatic finger four and a wire clamp four, wherein the screw rod structure six is arranged on the lower side plate of the fourth supporting frame; the pneumatic finger IV is arranged at one end of the third connecting plate, the other end of the second connecting plate is connected with a ball nut of a screw rod structure six, and the ball nut of the screw rod structure six is further arranged on a sliding rail of the lower side plate of the fourth supporting frame through a sliding block; the wire clamp IV is arranged on the clamping jaw of the pneumatic finger IV.

Further, one end of the first lifting cylinder is hinged with the upper side plate of the fourth supporting frame; the other end of the lifting cylinder I is fixedly connected with a motor of a screw rod structure V; one end of the lifting cylinder II is arranged on the upper side plate of the fourth supporting frame, and the other end of the lifting cylinder II is arranged on the lower surface of the second connecting plate; the lifting cylinder II is a double-shaft cylinder; a limiting block is arranged between the lifting cylinder II and the sliding block of the screw rod structure V; the second connecting plate is a Z-shaped folded plate; the second wire clamp comprises a second left wire clamp and a second right wire clamp, wherein the second left wire clamp and the second right wire clamp are arranged in a mirror image manner; when the left wire clamp II and the right wire clamp II are attached, a waist-shaped hole is formed at the attaching part.

Further, the sleeve device is arranged on the electric control vertical frame through the sliding table; the sleeve device comprises a third transverse moving seat, a third rotating block, a screw rod structure seven, a sleeve platform and sleeve equipment; the third traversing seat and the third rotating block are hinged, and a rotating motor is arranged at the hinged part of the third rotating block and the third traversing seat; the third transverse moving seat is connected with the sliding block of the sliding table; the screw rod structure seven is arranged on the third rotating block; the sleeve equipment is arranged on the sleeve platform; the sleeve platform is arranged on the ball nut of the screw rod structure seven.

Further, the lead frame is used for arranging a lead to be welded; the lead frame is provided with a lead hook or a communication checking device; the communication checking device is used for checking the connection conduction condition of the lead.

The beneficial effects of the invention are as follows:

the first manipulator is arranged to take down the lead from the lead frame, and the second manipulator can be used for cutting and stripping the lead, so that automation of the welding process is realized, and the efficiency is improved;

the vertical ball screw structure is arranged on the moving plate of the electric control vertical frame, and the transverse ball screw structure is arranged on the moving frame of the sliding table, so that the up-down and left-right adjustment of the first manipulator, the second manipulator and the sleeve device is realized, and the flexibility degree of a clamping device, a shearing clamping device and the like on the manipulator is greatly improved by combining one to seven screw structures;

By arranging the welding device, the welding wire is transmitted and the automatic welding work is realized; the V-shaped notch on the welding device is convenient for realizing the tin brushing operation of the lead, and the lead is prevented from being scattered;

by arranging the image recognition device, whether the grabbing of the wire and the welding process of the wire are smoothly carried out or not is judged, the intelligent degree of the device is improved, and the smooth carrying out of the welding work of the robot is effectively ensured;

in the wire stripping process, the stripped insulating rubber is reserved on the wire until tin rinsing treatment is completed through the welding device, and the stripped insulating rubber is removed, so that copper wires or other conductive and communication materials inside the wire are effectively prevented from being scattered.

Drawings

FIG. 1 is a schematic overall structure of a first embodiment of the present invention;

FIG. 2 is a schematic view of a manipulator and sleeve assembly on an electrically controlled stand according to a first embodiment of the present invention;

FIG. 3 is a schematic view of a first manipulator according to a first embodiment of the present invention;

FIG. 4 is a schematic view of a first clamping device according to a first embodiment of the present invention;

FIG. 5 is an enlarged view of a portion of a first clamping device according to a first embodiment of the present invention;

FIG. 6 is a schematic diagram of a second manipulator according to a first embodiment of the present invention;

FIG. 7 is a schematic diagram of a second clamping device according to a first embodiment of the invention;

FIG. 8 is an enlarged view of a portion of a second gripping device according to a first embodiment of the present invention;

FIG. 9 is a schematic view of a casing device according to a first embodiment of the present invention;

FIG. 10 is a schematic view of a casing apparatus according to a first embodiment of the present invention;

fig. 11 is a schematic diagram of a leadframe according to a first embodiment of the present invention;

fig. 12 is a partial enlarged view of a lead frame according to a first embodiment of the present invention;

FIG. 13 is a schematic diagram of a communication verification device according to a second embodiment of the present invention;

FIG. 14 is a schematic view of a first base plate combined with a cartridge according to a second embodiment of the present invention;

FIG. 15 is a schematic view of a blade bar motion structure according to a second embodiment of the present invention;

FIG. 16 is a schematic diagram of a first combination of blade tips according to a second embodiment of the present invention;

FIG. 17 is a diagram illustrating a communication verification device according to a third embodiment of the present invention;

FIG. 18 is a schematic view of a communication verification device II with a sled removed according to a third embodiment of the present invention.

The attached drawings are used for identifying and describing: lead frame 1, lead hanger 11, electric control stand 2, case 21, moving plate 22, vertical ball screw structure 23, slide table 3, upper rail 31, lower rail 32, side connection block 33, lateral ball screw structure 34, first robot 4, first traverse base 41, rotation motor 411, first rotation block 42, hinge part one 421, mounting part one 422, first gripping device 43, first support frame 431, lead screw structure one 432, second support frame 433, bottom plate 4331, upper side plate 4332, lower side plate 4333, welding device 44, lead screw structure two 441, base plate 442, welding head 443, V-shaped notch 4431, guide tube 444, guide motor 445, guide wheel 446, welding wire wheel 447, support frame 4471, U-shaped notch 4472, hinge post 4473, lead traction structure 45, limit head 451, U-shaped cavity 452, lead traction port 453, connection base 454, first clamping structure 46, first connection plate 461, guide wire screw structure three 462, pneumatic finger one 463, wire clamp one 464, wire groove 465, second robot 5, second traverse base 51, second rotating block 52, hinge two 521, mount two 522, second gripping device 53, third supporting frame 531, screw structure four 532, fourth supporting frame 533, first shear clamping structure 54, second connecting plate 541, screw structure five 542, pneumatic finger two 543, lifting cylinder one 544, lifting cylinder two 545, wire clamp two 546, stopper 547, second shear clamping structure 55, pneumatic finger three 551, wire clamp three 552, second clamping structure 56, third connecting plate 561, screw structure six 562, pneumatic finger four 563, wire clamp four 564, sleeve device 6, third traverse base 61, third rotating block 62, screw structure seven 63, sleeve platform 64, supporting post 65, sleeve device 66, communication verification device one 7, base plate one 71, communication verification device one 7, base plate one, the connector 711, the lifting lever 72, the first blade head 73, the blade lever 74, the blade holder 75, the lower frame 751, the upper frame 752, the fixing post 76, the spring piece 77, the second communication checking device 8, the second base plate 81, the second wire guide 82, the sliding plate 83, the first wire guide 84, the fixing hole 85, the second blade head 86, and the limiting device 87.

Detailed Description

Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.

It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.

Embodiment one:

as shown in fig. 1, a robot for wire bonding includes a lead frame 1, an electric control stand 2, a sliding table 3, an image acquisition device, a first manipulator 4, and a second manipulator 5. The first manipulator 4 and the second manipulator 5 are respectively connected with the sliding table 3 through a sliding structure, the sliding table 3 is connected with the electric control stand 2 through a sliding structure, and the sliding structure is a ball screw structure; the image acquisition device is arranged on the first manipulator 4 or the second manipulator 5, and in this example, the image acquisition device is arranged on the first manipulator 4; in this example, the lead frame 1 is fixedly arranged on a signal cabinet to be welded.

As shown in fig. 2, the electric control stand 2 includes a case 21, a moving plate 22, and a control module; wherein the control module is arranged inside the box body 21; the moving plate 22 is provided on one side surface of the case 21, and the moving plate 22 is vertically provided. The control module adopts a programmable singlechip, is used for controlling the actions of the first manipulator 4, the second manipulator 5 and the sliding table 3, is also connected with the image acquisition device, and processes and identifies the image acquired by the image acquisition device, wherein the identified image adopts the existing identification method, and in the example adopts the image identification method of model training. The moving plate 22 is used for connecting the sliding table 3; the motion plate 22 is provided with a vertical ball screw structure 23. The vertical ball screw structure 23 comprises a vertical motor, a vertical screw and a vertical ball nut; the vertical screw rod is arranged in the Y direction, which is the vertical direction in the example; two ends of the vertical screw rod are respectively connected with the moving plate 22 through bearings; one end of the vertical screw rod is also provided with a vertical motor, and the vertical motor is arranged on the upper side of the vertical screw rod in the embodiment; the vertical motor is in transmission connection with the screw rod and can be in transmission connection with a gear; the vertical motor is also connected with the control module, and the control module controls the vertical motor to act; the vertical ball nut is arranged on the vertical screw rod through a ball; the vertical ball nut is also connected with the sliding table 3. The left and right sides of the motion plate 22 are also respectively provided with a sliding rail, and the sliding rails are mutually parallel to the vertical screw rods. The sliding rail is correspondingly provided with a sliding block, and the sliding block can slide along the sliding rail. The sliding block is connected with the sliding table 3. By arranging the sliding rails on the left edge and the right edge of the moving plate 22 and arranging the sliding blocks on the sliding rails to be connected with the sliding table 3, the sliding table 3 is ensured to stably lift. The bottom of the electric control vertical frame 2 is also provided with a bottom plate 4331, and the bottom plate 4331 is arranged on the ground; it should be noted that, in some other embodiments, a moving wheel may be further disposed on the lower surface of the bottom plate 4331, where the moving wheel includes a universal wheel; by moving the wheel, the device of this embodiment can be moved conveniently.

The sliding table 3 comprises a moving frame and a transverse ball screw structure 34, wherein the transverse ball screw structure 34 is arranged on the moving frame; the moving frame is connected with a sliding block on a sliding rail arranged on the moving plate 22; the transverse ball screw structure 34 is connected with the first manipulator 4 or the second manipulator 5; in this example, the first manipulator 4 and the second manipulator 5 are respectively disposed on two sliding tables 3, and both sliding tables 3 are disposed on a motion plate 22 of the electric control stand 2 through a vertical ball screw structure 23; the vertical lead screws corresponding to the two sliding tables 3 are parallel to each other, and the lengths of the two vertical lead screws are consistent with the set height. The transverse ball screw structure 34 includes a transverse motor, a transverse screw, and a transverse ball nut; the transverse ball nut is arranged on the transverse screw rod through a ball, and is also connected with the first manipulator 4 or the second manipulator 5; the transverse screw is in transmission connection with a transverse motor, the transmission connection is gear connection in the example, and the transverse screw is positioned in the Z direction; the transverse screw rod is also connected with the moving frame through a bearing; the transverse motor is arranged on the moving frame. The moving frame comprises an upper rail 31, a lower rail 32 and a side connecting block 33; the side connection block 33 is positioned at one end of the upper rail 31 and the lower rail 32, and the upper rail 31 and the lower rail 32 are arranged on the side connection block 33 in parallel; in this example the upper rail 31 and the lower rail 32 are located in the Z-direction. Through the upper rail 31 and the lower rail 32 structures of the sliding table 3, the sliding connection of the first manipulator 4 and the second manipulator 5 with the sliding table 3 is realized, and the transverse ball nut is driven to act through the rotation of the transverse motor, so that the first manipulator 4 and the second manipulator 5 are driven to act. It should be noted that, in some other embodiments, both ends of the upper rail 31 and the lower rail 32 may be provided with side connection blocks 33, where the transverse motor is provided on the side connection blocks 33 at one end; through the side connecting blocks 33 at the two ends of the upper rail 31 and the lower rail 32, the structural strength of the moving frame is enhanced, the deformation of the moving frame is reduced, and the precision is ensured.

As shown in fig. 3-8, the first manipulator 4 and the second manipulator 5 are respectively arranged on the electric control stand 2 through two sliding tables 3, wherein the sliding table 3 of the first manipulator 4 is positioned above the second manipulator 5.

The first manipulator 4 includes a first traverse base 41, a first rotating block 42, and a first gripping device 43; the first rotating block 42 is hinged on the first traversing seat 41, and the first rotating block 42 can rotate around the hinged part, in this example, the rotating direction of the first rotating block 42 is located in the horizontal direction; the hinge joint of the first rotating block 42 and the first traversing seat 41 is provided with a rotating motor 411, the rotating motor 411 is connected with a control module of the electric control vertical frame 2, and the rotating motor 411 can control the rotating angle and the rotating direction of the first rotating block 42; the first traversing seat 41 is arranged on the upper rail 31 and the lower rail 32 of the moving frame of the sliding table 3 through a sliding block, the first traversing seat 41 is also connected with a transverse ball nut, and the transverse ball nut is driven to act through the rotation of a transverse motor, so that the movement of the first traversing seat 41 is realized; the first gripping device 43 is provided on the first rotating block 42. The first rotating block 42 includes a hinge portion one 421 and a mounting portion one 422; the first hinge part 421 is in a straight plate shape, one end of the first hinge part 421 is in a semicircular arc shape, the other end of the first hinge part is fixedly connected with the first mounting part 422, and one end of the semicircular arc shape is used for hinging; the first mounting part 422 is in a straight quadrangular prism shape as a whole, the first mounting part 422 is internally hollowed out, and the hollowed-out part is also in a straight quadrangular prism shape. The open side of the hollowed-out portion of the first mounting portion 422 is located at a side of the first mounting portion 422 away from the first hinge portion 421.

The first clamping device 43 comprises a first supporting frame 431, a second supporting frame 433, a welding device 44, a wire traction structure 45 and a first clamping structure 46; wherein the second supporting frame 433 is slidably disposed on the first supporting frame 431; the welding device 44 is slidably arranged at the upper part of the second supporting frame 433; shear clamping structure the first clamping structure 46 is slidably disposed under the second support frame 433; the wire traction structure 45 is arranged on the second supporting frame 433; the first supporting frame 431 is disposed in the hollow portion of the first mounting portion 422 of the first rotating block 42. The first supporting frame 431 is square, and a first screw rod structure 432 is arranged in the first supporting frame 431; the second supporting frame 433 comprises a bottom plate 4331, an upper side plate 4332 and a lower side plate 4333, wherein the upper side plate 4332 and the lower side plate 4333 are arranged at two ends of the bottom plate 4331 to form a triangular frame structure; the bottom plate 4331 of the second supporting frame 433 is slidably connected to the first supporting frame 431 through a first screw structure 432. The motor of the first screw structure 432 is also arranged in the hollowed-out part of the first mounting part 422, and the motor is connected with the first mounting part 422 through a thread structure. The bottom plate 4331 of the second supporting frame 433 is also connected with the side edge of the first supporting frame 431 in a sliding way through a sliding block; the sliding blocks are arranged on two sides of the bottom plate 4331 of the second supporting frame 433, and are also connected with the side surfaces of the second supporting frame 433. The bottom plate 4331 of the second supporting frame 433 passes through the first supporting frame 431; the bottom plate 4331 of the second supporting frame 433 is further provided with a through hole for passing through the screw of the screw structure one 432; the intersection point of the two sides of the second supporting frame 433 is disposed outside the first supporting frame 431; the first support frame 431 and the second support frame 433 form a loop structure. One end of the second supporting frame 433, where two sides are close to each other, is provided with a wire traction structure 45.

The welding device 44 is disposed on the second support frame 433, wherein the welding device 44 is located at an upper portion of the upper side plate 4332 of the second support frame 433. The welding device 44 comprises a screw rod structure II 441 and a welding wire traction device; the second screw structure 441 is disposed between the wire drawing device and the upper plate 4332 of the second support frame 433. The motor of the screw rod structure II 441 is fixedly arranged on the upper side plate 4332; the screw rod of the screw rod structure II 441 is arranged at the output end of the motor; the ball nut of the screw structure II 441 is arranged on the slide rail of the upper side plate 4332 through a slide block, and the ball nut is also connected with the welding wire traction device. By the action of the motor of the screw structure two 441, the ball nut can be pulled to slide on the upper side plate 4332, and then the welding wire traction device is driven to act. The wire pulling device includes a base plate 442, a welding head 443, a guide tube 444, a guide motor 445, a guide wheel 446, and a wire wheel 447; the bottom of the base plate 442 is connected with a ball nut of the screw structure II 441; the guide tube 444, the guide motor 445, the guide wheel 446 and the wire wheel 447 are all arranged on the base plate 442; the bonding head 443 is disposed on the side surface of the substrate 442. The substrate 442 is in a shape of a folded plate, comprising a folded plate I and a folded plate II, wherein the folded plate I and the folded plate II are integrally manufactured, a set angle is kept between the folded plate I and the folded plate II, and the set angle ranges from 90 degrees to 180 degrees, so that the tail end of the folded plate II is close to the wire traction structure 45. The first folded plate is arranged on the ball nut of the second screw structure 441; the first folded plate is disposed parallel to the upper plate 4332 of the second supporting frame 433, and may be approximately parallel due to process errors. The first folded plate is provided with a guide tube 444, a guide motor 445, a guide wheel 446 and a welding wire wheel 447; one end of the second folded plate, which is far away from the first folded plate, is provided with a welding head 443. The welding head 443 comprises a first welding head and a second welding head, and the welding head 443 can be electrified to generate heat so as to finish welding work; a set angle is kept between the welding head I and the welding head II; the first welding head is connected with the side surface of the second folded plate; the second bond head is proximate the wire pulling structure 45. A passage is formed in the welding head II and used for penetrating the welding wire; by providing a channel directly inside the weld head 443, the welding wire can pass directly through the weld head 443, facilitating the heating of the welding wire. One side of the welding head II, which is far away from the welding head I, is provided with a V-shaped notch 4431, and the bottom of the V-shaped notch 4431 is provided with an arc groove, so that a wire can be attached. The V-notch 4431 connects the channels inside the second weld head. Two guide wheels 446 are provided, wherein one guide wheel 446 is arranged at the output end of the guide motor 445; another guide wheel 446 is disposed in a recess on the base plate 442, and the guide wheel 446 disposed on the base plate 442 is capable of rotating in the recess on the base plate 442. The outer periphery of the guide wheel 446 is provided with an arc groove, the arc groove is arranged around the outer periphery of the guide wheel 446 for a circle, and when the two guide wheels 446 are mutually attached, the arc grooves at the outer periphery of the two guide wheels 446 are combined to form a through hole for passing and pushing welding wires; the guide wheel 446 is made of an elastic material having a high friction coefficient, in this example, a rubber material. The guiding tube 444 is attached to the base plate 442, one end of the guiding tube 444 is close to the guiding wheel 446, the other end of the guiding tube 444 is inserted into the second welding head, the guiding tube 444 is communicated with a channel inside the second welding head, and welding wires in the guiding tube 444 can penetrate through the second welding head to reach the V-shaped notch 4431 of the second welding head. The welding wire wheel 447 is arranged at one end of the first folded plate far away from the second folded plate, and the welding wire wheel 447 is connected with the first folded plate through the supporting frame 4471; the support 4471 is hinged to the two ends of the wire wheel 447, and the support 4471 is fixedly connected to the first flap. In the example, a U-shaped notch 4472 is arranged on a supporting frame 4471, and correspondingly, hinge posts 4473 are arranged at two ends of a welding wire wheel 447; the hinge post 4473 is disposed within the U-shaped notch 4472 to effect the articulation of the support bracket 4471 with the wire wheel 447 and also to enable easy removal of the wire wheel 447 from the support bracket 4471. The guiding motor 445 is arranged on the first folded plate and is positioned between the guiding tube 444 and the welding wire wheel 447; the output of the guide motor 445 is connected to a guide wheel 446. In the implementation process, the guiding motor 445 drives the guiding wheel 446 to rotate, so as to pull the welding wire and drive the welding wire wheel 447 to rotate; the welding wire is fed into the guide tube 444 by the guide wheel 446 and passes through the guide tube 444 to the welding head 443; the welding joint 443 is electrified and heated, and the welding operation is realized at the V-shaped notch 4431 of the welding joint II.

The wire traction structure 45 is disposed on the first support frame 431, wherein the wire traction structure 45 includes a positioning head 451 and a connection base 454, the positioning head 451 and the connection base 454 are integrally formed, and the connection base 454 is disposed between the positioning head 451 and the first support frame 431. The limiting head 451 is in a straight rod shape, and one end of the limiting head 451, which is far away from the connecting base 454, is arranged into an inclined section; a U-shaped cavity 452 is arranged at the bevel part, and the U-shaped cavity 452 does not penetrate through the limiting head 451; the bottom of the U-shaped cavity 452 is provided with a wire traction opening 453, the wire traction opening 453 is a U-shaped hole, and the wire traction opening 453 penetrates through the bottom of the U-shaped cavity 452. In the implementation process, the wire can be limited at the wire traction port 453 and the welding operation and the like can be realized by the welding head 443.

The first clamping structure 46 includes a first connecting plate 461, a third screw structure 462, a first pneumatic finger 463 and a first wire clamp 464; the screw rod structure III 462 is arranged on the lower side plate 4333 of the second supporting frame 433; the first pneumatic finger 463 is arranged at one end of the first connecting plate 461, the other end of the first connecting plate 461 is connected with a ball nut of the third screw rod structure 462, and the ball nut of the third screw rod structure 462 is further arranged on a sliding rail of the lower side plate 4333 through a sliding block; the first lead clamp 464 is arranged on the clamping jaw of the first pneumatic finger 463; the first pneumatic finger 463 adopts the existing pneumatic finger, and the opening and closing actions of the clamping jaw of the pneumatic finger are realized through the air cylinder, and other pneumatic fingers in the following are all of the existing pneumatic finger structures. The first wire clamp 464 comprises a left wire clamp 464 and a right wire clamp 464, and the left wire clamp 464 and the right wire clamp 464 are identical in structure and are arranged in a mirror image mode. The left wire clamp one 464 includes a left connecting plate one and a left clamping block one; the left clamping block I and the left connecting plate I are integrally manufactured. The first left clamping block is arranged at one end of the first left connecting plate in a protruding mode, and the other end of the first left connecting plate is fixedly connected with the pneumatic finger; the surface of the left clamp block one is provided with a wire groove 465. Likewise, right wire clamp one 464 includes right connection plate one and right clamp block one; the first bulge of the right clamping block is arranged at one end of the first right connecting plate, and the other end of the first right connecting plate is fixedly connected with the pneumatic finger; the surface of the right clamp block one is provided with a wire groove 465. The left clamping block I and the right clamping block I are arranged in a mirror image mode; when the first left clamp block and the first right clamp block are attached, the wire grooves 465 on the first left clamp block and the second right clamp block are combined to form a through hole structure for clamping the wires. The first left connecting plate and the first right connecting plate are both Z-shaped, in this example, the folded angle parts of the first left connecting plate and the first right connecting plate are 90 degrees, and the first left connecting plate and the first right connecting plate are Z-shaped, so that the first left clamping block and the first right clamping block can be lifted upwards to be close to the lower side of the wire traction structure 45, and the clamped wires are conveniently placed into the wire traction openings 453 of the wire traction structure 45. In this example, the first connecting plate 461 is also in a Z-shaped structure, wherein the angle of the Z-shaped structure is 90 °, so as to lift the first pneumatic finger 463 provided on the first connecting plate 461 upwards, and further lift the first wire clamp 464 connected with the first pneumatic finger 463 upwards, so that the first wire clamp 464 is close to the wire traction structure 45.

The second manipulator 5 comprises a second traversing seat 51, a second rotating block 52 and a second clamping device 53; the second rotating block 52 is disposed on the second traverse base 51; the second gripping device 53 is provided to the second rotating block 52. The second traverse base 51 and the second rotating block 52 are similar to the first traverse base 41 and the first rotating block 42, respectively; the second traversing seat 51 and the second rotating block 52 are hinged, a rotating motor 411 is arranged at the hinging part of the second rotating block 52 and the second traversing seat 51, the rotating motor 411 is connected with a control module of the electric control vertical frame 2, and the rotating motor 411 can control the rotating angle and the rotating direction of the second rotating block 52; one end of a second hinging part 521 of the second rotating block 52 is hinged with the second sideslip seat 51, the other end of the second hinging part 521 is provided with a second mounting part 522 of the second rotating block 52, and the second hinging part 521 and the second mounting part 522 are integrally manufactured; the second mounting part 522 is connected to the second gripping device 53; note that the second hinge 521 has a Z-shape, and the hinge 521 has a folding angle of 90 ° in this example. Because the first manipulator 4 and the second manipulator 5 are respectively arranged on the two sliding tables 3 in this example, and there is position interference between the two sliding tables 3, so that the two sliding tables 3 form an up-down position relationship, wherein the second manipulator 5 is arranged on the sliding table 3 below, the second manipulator 5 is lifted upwards through the bevel structure of the second rotating block 52, so that the first manipulator 4 and the second manipulator 5 can be at the same height when the two sliding tables 3 are close up and down, and further the interaction between the first manipulator 4 and the second manipulator 5 is realized.

The second clamping device 53 includes a third supporting frame 531, a fourth supporting frame 533, a first shearing clamping structure 54, a second shearing clamping structure 55 and a second clamping structure 56, wherein the third supporting frame 531 and the fourth supporting frame 533 are similar to the first supporting frame 431 and the second supporting frame 433, respectively; the fourth supporting frame 533 is slidably disposed on the third supporting frame 531, and the bottom plate 4331 of the fourth supporting frame 533 is disposed on the ball nut of the screw structure four 532 on the third supporting frame 531; the first shearing clamping structure 54 is disposed on the upper side plate 4332 of the fourth supporting frame 533; the second shearing clamping structure 55 is arranged at the end point of the upper side plate 4332 and the lower side plate 4333 of the fourth supporting frame 533, which are close to each other; the second clamping structure 56 is disposed on the lower side plate 4333 of the fourth supporting frame 533. The fourth supporting frame 533 is driven to displace relative to the third supporting frame 531 by the action of the screw rod structure four 532, so as to further realize the movement of the first shearing clamping structure 54, the second shearing clamping structure 55 and the second clamping structure 56.

The first shearing clamping structure 54 comprises a second connecting plate 541, a screw structure five 542, a pneumatic finger two 543, a lifting cylinder one 544, a lifting cylinder two 545, and a wire clamp two 546; the fifth screw structure 542 is disposed on the upper side plate 4332 of the fourth supporting frame 533; the pneumatic second finger 543 is arranged at one end of the second connecting plate 541, the other end of the second connecting plate 541 is connected with a ball nut of the screw structure five 542, the ball nut of the screw structure five 542 is also arranged on a sliding rail through a sliding block, and the sliding rail is fixedly connected with a motor of the screw structure five 542; the second lead clip 546 is arranged on the second pneumatic finger 543; the lifting cylinder I544 is arranged between the upper side plate 4332 of the fourth supporting frame 533 and the motor of the screw rod structure five 542; the lifting cylinder two 545 is disposed between the upper side plate 4332 of the fourth supporting frame 533 and the second connection plate 541. One end of the lifting cylinder one 544 is hinged with the upper side plate 4332 of the fourth supporting frame 533; the other end of the lifting cylinder I544 is fixedly connected with the motor of the screw rod structure five 542, and the motor of the screw rod structure five 542 can be driven to move upwards or downwards through the action of the lifting cylinder I544. The second connecting plate 541 is similar to the first connecting plate 461 in structure, and the second connecting plate 541 is a Z-shaped folded plate, wherein the folding angle is 90 °, so that the pneumatic finger two 543 is sunk, and the wire clamp two 546 is close to the second shearing and clamping structure 55. One end of the lifting cylinder II 545 is arranged on the upper side plate 4332 of the fourth supporting frame 533, the other end of the lifting cylinder II 545 is arranged on the lower surface of the second connecting plate 541, and the second connecting plate 541 can be controlled to be close to or far from the upper side plate 4332 of the fourth supporting frame 533 through the action of the lifting cylinder II 545, so that the second wire guide clamp 546 is controlled to be close to or far from the second shearing clamping structure 55; in this example, the lifting cylinder two 545 is a biaxial cylinder. A limiting block 547 is arranged between the lifting cylinder II 545 and the sliding block of the screw rod structure five 542, and the movement space of the sliding block is limited through the limiting block 547. The second wire clamp 546 includes a second left wire clamp 546 and a second right wire clamp 546, where the second left and right wire clamps 546, 546 are mirror images. The overall structure of the left and right wire clamps 546, 546 is Z-shaped in order to ensure that the portion of the wire clamp 546 used to clamp the wire is adjacent to the second shear clamping structure 55. When the left wire clamp II 546 and the right wire clamp II 546 are attached, a waist-shaped hole is formed at the attaching portion, the wire stripping work of the wires is facilitated through the waist-shaped hole, and the wire cutting work can be realized through the attaching portion outside the waist-shaped hole.

The second shearing and clamping structure 55 comprises a third pneumatic finger 551 and a third wire clamp 552, wherein the third pneumatic finger 551 is arranged on a fixed seat at one end of the upper side plate 4332 and the lower side plate 4333 of the fourth supporting frame 533, which are close to each other; the third wire clip 552 is disposed on the third pneumatic finger 551. The wire clamp three 552 comprises a left wire clamp three 552 and a right wire clamp three 552, wherein when the left wire clamp three 552 and the right wire clamp three 552 are jointed, a round hole is formed at the joint part and is used for clamping a wire; the wire can be cut through the joint part except the round hole.

The second clamping structure 56 includes a third connection plate 561, a screw structure six 562, a pneumatic finger four 563, and a wire clamp four 564, where the screw structure six 562 is disposed on the lower side plate 4333 of the fourth supporting frame 533; the pneumatic finger four 563 is arranged at one end of the third connecting plate 561, the other end of the second connecting plate 541 is connected with a ball nut of the screw rod structure six 562, and the ball nut of the screw rod structure six 562 is also arranged on a sliding rail of the lower side plate 4333 of the fourth supporting frame 533 through a sliding block; the wire clamp four 564 is disposed on the jaw of the pneumatic finger four 563. The third web 561 is similar in construction to the first web 461, with the third web 561 being generally Z-shaped for the purpose of enabling the wire clamp four 564 to be adjacent the second shear grip structure 55. The fourth wire clip 564 includes a fourth left wire clip 564 and a fourth right wire clip 564, where the fourth left wire clip 564 and the fourth right wire clip 564 are mirror images. When four 564 of left wire clamp and four 564 of right wire clamp are laminated, through holes are formed in the laminating positions and used for clamping wires, and meanwhile, one surface of each of the left wire clamp and the right wire clamp, which is mutually laminated, is set to be wavy, so that the wires can be firmly clamped.

The image capturing device is disposed on the first manipulator 4, and may be located on the upper side plate 4332 of the second supporting frame 433 or the base plate 442 of the welding tractor. The image acquisition device is used for acquiring a grabbing image of the wire, a welding image of the wire and the like.

As shown in fig. 9 and 10, the robot for wire bonding further includes a sleeve device 6, wherein the sleeve device 6 is also disposed on the electric control stand 2 through the sliding table 3, and in this example, the sliding table 3 corresponding to the sleeve device 6 is located below the sliding tables 3 corresponding to the first manipulator 4 and the second manipulator 5. The sleeve device 6 comprises a third traversing seat 61, a third rotating block 62, a screw rod structure seven 63, a sleeve platform 64 and a sleeve device 66; the third traversing seat 61 and the third rotating block 62 are hinged, the hinge joint of the third rotating block 62 and the third traversing seat 61 is provided with a rotating motor 411, the rotating motor 411 is connected with a control module of the electric control vertical frame 2, and the rotating motor 411 can control the rotating angle and the rotating direction of the third rotating block 62; the third traversing seat 61 is connected with the sliding block of the sliding table 3; the screw structure seven 63 is arranged on the third rotating block 62; a cannula device 66 is disposed on the cannula platform 64; the sleeve platform 64 is arranged on the ball nut of the screw structure seven 63, and in this example, a support column 65 is arranged between the sleeve platform 64 and the ball nut of the screw structure seven 63, and the sleeve platform 64 is lifted upwards through the support column 65, so that the sleeve equipment 66 on the sleeve platform 64 can be in the same plane with the first manipulator 4 and the second manipulator 5. The cannula device 66 includes a wire marker; the wire marking machine adopts the existing wire marking machine equipment, wherein the wire marking machine is used for generating the coded tube with the number and finishing the cutting of the coded tube. In some other embodiments, the sleeving of the wires may be performed by manual sleeving, and the sleeved wires may be placed on a lead frame.

As shown in fig. 11 and 12, the lead frame 1 is disposed on a signal cabinet, wherein the lead frame 1 is provided with uniformly arranged lead hooks 11, so that the leads to be soldered can be disposed on the lead hooks 11 one by one, and the first manipulator 4 can grasp the leads conveniently.

In the implementation process, the wire can be taken down from the lead frame 1 through the first clamping structure 46 arranged on the first manipulator 4, and the work such as wire cutting and wire stripping of the wire can be realized through the second manipulator 5, so that the automation of the welding process is realized, and the efficiency is improved; by arranging the vertical ball screw structure 23 on the moving plate 22 of the electric control vertical frame 2 and arranging the transverse ball screw structure 34 on the moving frame of the sliding table 3, the up-down and left-right adjustment of the first manipulator 4, the second manipulator 5 and the sleeve device 6 is realized, and the flexibility of the clamping device, the shearing clamping device and the like on the manipulator is greatly improved by combining one 432 to seven screw structures.

The welding robot described above can be controlled by the conventional control technique.

A welding method of a robot for wire bonding comprises the following steps:

step 1: the control module controls and adjusts the rotation angle between the transverse ball screw structure 34 and the vertical ball screw structure 23 corresponding to the first manipulator 4 and the first traversing seat 41 and the first rotating block 42; moving the first manipulator 4 to a set position for clamping the wire;

Step 2: starting the motor of the screw rod structure III 462 to enable the first clamping structure 46 to move to the set position of the lead frame 1;

step 3: starting a first pneumatic finger 463, and controlling a first wire clamp 464 to clamp the wire;

step 4: the image acquisition device acquires images and transmits the images to the control module of the electric control stand 2; the control module judges whether the wire is clamped or not according to the trained image recognition model; if the wire is not clamped, returning to the step 1; if the wire is clamped, the step 5 is carried out;

step 5: the motor is controlled by the control module, and the position of the second manipulator 5 relative to the first manipulator 4 is adjusted, so that the second clamping structure 56 of the second manipulator 5 is positioned right below the first clamping structure 46 of the first manipulator 4;

step 6: controlling the clamping air pressure of the pneumatic finger IV 563 and the opening angle of the clamping jaw of the pneumatic finger IV 563 to enable the wire clamp IV 564 to clamp the wire at the set pressure and opening angle;

step 7: controlling the sliding table 3 corresponding to the second manipulator 5 to move downwards for a set distance;

step 8: controlling the pneumatic finger II 543 and the pneumatic finger III 551 to open;

step 9: starting a motor of a screw structure IV 532 and a motor of a screw structure VI 562; the lead wire clamp IV 564 is contracted towards the motor direction of the lead screw structure VI 562, and the second clamping device 53 integrally extends towards the motor direction far away from the lead screw structure IV 532; placing wire clamp three 552, wire clamp four 564, and wire clamp one 464 on the same vertical line;

Step 10: starting a motor of a screw rod structure five 542 to enable the lead clamps one 464 to four to be positioned on the same vertical straight line; and the spacing between the second and third wire clamps 546 and 552 is set to a distance;

step 11: closing the pneumatic finger II 543 to cut the wire through the wire clamp II 546;

step 12: opening the pneumatic finger II 543, starting the lifting cylinder I544, and sinking the wire clamp II 546 by a set distance X to enable the wire clamp II 546 to be close to the wire clamp III 552;

step 13: closing the pneumatic second finger 543, and shearing the insulating skin on the outer layer of the lead through a kidney-shaped hole structure on the second lead clamp 546;

step 14: starting a lifting cylinder II 545 to lift the wire clamp upwards by a set distance X' to form a bare wire part, and finishing wire stripping work;

step 15: controlling the first manipulator 4 to enable the welding device 44 to perform tin rinsing treatment on the exposed wire part;

step 16: opening a second pneumatic finger 543 to control the lifting cylinder 545 to sink; then closing the pneumatic finger II 543, cutting the wire through the wire clamp II 546, and reserving the exposed wire of the tin rinsing part;

step 17: opening the first pneumatic finger 463 to enable the first wire clamp 464 to loosen the sheared wire;

step 18: starting a wire marking machine to generate a coding tube;

Step 19: moving the first manipulator 4 to clamp the coding tube by the wire clamp 464 on the pneumatic finger 463; cutting off the coding tube by a thread marking machine;

step 20: moving the first manipulator 4 to enable the first wire clamp 464 to be located right above the second wire clamp 546; controlling the first manipulator 4 to move downwards, and sleeving the coding tube clamped on the first lead clamp 464 into the lead; opening the first pneumatic finger 463 to enable the first wire clamp 464 to loosen the coding tube;

step 21: opening the pneumatic finger II 543 and the pneumatic finger III 551; starting the motor of the screw rod structure IV 532 to enable the lead wire clamp IV 564 to extend in the direction away from the motor of the screw rod structure VI, and starting the motor of the screw rod structure II 441 to enable the whole second clamping device 53 to shrink in the direction of the motor of the screw rod structure IV 532; placing the fourth wire clip 564 and the first wire clip 464 on the same vertical line while the second wire clip 546 and the third wire clip 552 are retracted inward;

step 22: moving the second manipulator 5 upwards to feed the wire between the wire clamp one 464 and the wire traction structure 45; closing the pneumatic finger one 463 to cause the wire clamp one 464 to clamp the wire;

step 23: controlling the motor of the screw rod structure III 462 to enable the first lead wire clamp 464 to shrink a set distance to a direction close to the motor of the screw rod structure III 462, so as to form a dislocation state of the first lead wire clamp 464 and the limiting head 451 of the lead wire traction structure 45, wherein the limiting head 451 extends out relative to the first lead wire clamp 464;

Step 24: controlling the first manipulator 4 to move, wherein the lead traction structure 45 is positioned at the corresponding welding hole part;

step 25: controlling the motor of the screw structure III 462 to enable the first lead wire clamp 464 to extend out of the motor of the screw structure III 462 for a set distance; penetrating the lead into the welding hole part;

step 26: the welding device 44 is controlled to complete the welding, ending the step.

The model training in the step 4 adopts a conventional image recognition model training method. If the wire is not clamped, the process returns to step 1, and the position of the first manipulator 4 is adjusted according to the identified image, so as to complete the clamping of the wire.

In the step 5, when the second clamping structure 56 of the second manipulator 5 is located directly under the first clamping structure 46 of the first manipulator 4, the first shearing clamping structure 54 and the second shearing clamping structure 55 of the second manipulator 5 are in an open state, or the fourth lead wire clamp 564 is extended in a direction away from the motor of the sixth lead screw structure 562 by the sixth lead screw structure 562, in this example, the fourth lead wire clamp 564 is extended in order to avoid interference with the second clamping structure 56.

The purpose of the step 7 is to straighten the wires and avoid the phenomena of knotting, winding and the like.

The lifting set distance X' in the step 14 is smaller than the sinking set distance X in the step 12, so that the stripped insulating rubber is still on the wire and is not separated from the wire, and meanwhile, a section of exposed copper wire or other conductive and communication materials is formed on the wire, so that the exposed copper wire or other conductive and communication materials are ensured not to be opened, and can be twisted into a strand.

It should be noted that, in some other embodiments, after the welding is completed in step 26, an image of the welding hole is also acquired by the image acquisition device, and whether the welding of the welding hole meets the set requirement is determined according to the pre-trained model, if not, a warning is sent to request the operator to perform the manual welding operation.

In the implementation process, the first manipulator 4 and the second manipulator 5 are matched to finish the wire cutting, wire stripping and welding operation of the wires, so that the efficiency is improved, and the labor cost is reduced; by arranging the image recognition device, whether the grabbing of the wire and the welding process of the wire are smoothly carried out or not is judged, the intelligent degree of the device is improved, and the smooth carrying out of the welding work of the robot is effectively ensured; by keeping the stripped insulating rubber on the wire in the wire stripping process, the stripped insulating rubber is removed until tin rinsing treatment is completed through the welding device 44, so that copper wires or other conductive and communication materials inside the wire are effectively prevented from being scattered.

Embodiment two:

as shown in fig. 13 to 16, this embodiment is based on a modification of the first embodiment in which the communication verification device 7 is provided on the lead frame 1. The communication checking device 7 comprises a bottom plate 71, a lifting rod 72, a blade head 73, a blade rod 74 and a blade frame 75; the lifting rod 72 is arranged on the first bottom plate 71, and the lifting rod 72 can move in a kidney-shaped hole space arranged on the first bottom plate 71; the blade holder 75 is arranged on the first bottom plate 71; the blade bars 74 are arranged on the blade frames 75, two blade bars 74 are arranged in each blade frame 75, and one blade bar 74 is fixedly arranged on the blade frame 75; the other blade rod 74 is slidably arranged in the blade frame 75, one end of the blade rod 74 is connected with the lifting rod 72, and the blade rod 74 is driven to act through the action of the lifting rod 72; the first blade heads 73 are uniformly arranged on the blade rod 74; the blade heads 73 on the two blade bars 74 in the same blade holder 75 are respectively in one-to-one correspondence.

The first base plate 71 is provided with two connecting seats 711, and the two connecting seats 711 are correspondingly arranged on the first base plate 71. The connecting seats 711 are provided with waist-shaped holes, and the lifting rods 72 are arranged on the two connecting seats 711 and positioned in the waist-shaped holes. The connecting seat 711 is also provided with a fixing hole, and the fixing hole is positioned on the side surface of the kidney-shaped hole; the fixed orifices internal fixation is provided with the fixed column 76, is provided with shell fragment 77 between fixed column 76 and lift pull rod 72, exerts pressure to lift pull rod 72 through shell fragment 77, makes lift pull rod 72 can be located the one end in waist shape hole under the effect of not receiving external force. The first base plate 71 is further provided with at least one protruding cartridge 75, in this case three cartridges 75, wherein the three cartridges 75 are arranged parallel to each other. The blade holder 75 includes a lower holder 751 and an upper holder 752, wherein the lower holder 751 is disposed on the first base plate 71, one end of the lower holder 751 is connected to the upper holder 752, and a set distance is maintained between the lower holder 751 and the upper holder 752. Grooves are provided on one side of the lower frame 751 and the upper frame 752, which are adjacent to each other, wherein the grooves on the lower frame 751 are used for fixing the blade lever 74; the grooves on the upper frame 752 are used to slidably dispose the blade bars 74 such that the blade bars 74 disposed on the upper frame 752 can slide along the grooves on the upper frame 752. The upper bracket 752 is connected at one end to the lower bracket 751 and at the other end is an opening facing the lift pins 72 to allow the blade bars 74 on the upper bracket 752 to be fixedly connected to the lift pins 72.

The first blade head 73 is provided with a V-shaped groove, wherein the first blade head 73 of the blade rod 74 fixedly arranged on the lower frame 751 is provided with two adjacent V-shaped grooves, and the first blade head 73 of the blade rod 74 slidingly arranged on the upper frame 752 is correspondingly provided with a V-shaped groove; or a V-shaped groove is arranged on the first blade head 73 of the blade rod 74 fixedly arranged on the lower frame 751, and two adjacent V-shaped grooves are correspondingly arranged on the first blade head 73 of the blade rod 74 slidingly arranged on the upper frame 752.

In the implementation process, the lifting rod 72 is pulled upwards to drive the blade rod 74 fixed with the lifting rod 72 to act, in addition, the blade holder 75 is internally provided with the fixed blade rod 74, so that the corresponding blade heads 73 on the two blade rods 74 in the blade holder 75 are mutually close, when the blades on the two blade rods 74 are mutually close due to the structure of the V-shaped groove, the part provided with the V-shaped groove can puncture the insulating rubber of the outer layer of the wire without cutting the wire, and on the other hand, the cutter head is contacted with copper or other conductive and communication materials in the wire to check whether the wire is conducted or not, so that the efficiency is improved. After the conduction of the verification wire, the manipulator is used for welding.

Embodiment III:

As shown in fig. 17 and 18, this embodiment is a modification of the first embodiment in which the second communication verification device 8 is provided on the lead frame 1. The second communication checking device 8 comprises a second base plate 81, a sliding plate 83, a second blade head 86 and a limiting device 87, wherein the sliding plate 83 is arranged on a sliding rail of the second base plate 81 in a sliding manner; the limiting device 87 is arranged between the second base plate 81 and the sliding plate 83 and is used for limiting the sliding range between the second base plate 81 and the sliding plate 83; the second blade head 86 is uniformly disposed on the second base plate 81 and the slide plate 83. The limiting device 87 adopts a micrometer, one end of the limiting device 87 is arranged on the second bottom plate 81, and the other end of the limiting device 87 is positioned on the sliding track of the sliding plate 83, so that the movement space of the sliding plate 83 relative to the second bottom plate 81 can be limited by adjusting the length of the limiting device 87.

Blade grooves are uniformly formed in the sliding plate 83 and the second bottom plate 81 and are used for arranging blades; the sliding plate 83 is also provided with a first wire guide hole 84 and a fixed hole 85, the first wire guide hole 84 and the fixed hole 85 are respectively arranged corresponding to a second blade head 86 on the sliding plate 83, and the fixed hole 85 is arranged in a blade groove on the sliding plate 83; the first wire guide 84 penetrates the slide plate 83 to reach a position for cutting identical to that of the second blade head 86; the fixing hole 85 penetrates the sliding plate 83 and is connected with a second blade head 86 arranged on the sliding plate 83 for fixing the second blade head 86. The second base plate 81 is provided with a second wire guide hole 82, the second wire guide hole 82 corresponds to the first wire guide hole 84 on the reset sliding plate 83, when the sliding plate 83 resets, a wire inserted through the first wire guide hole 84 can penetrate into the second wire guide hole 82, and further the second blade head 86 arranged on the sliding plate 83 and the second base plate 81 can conveniently cut an insulating outer layer of the wire. The second base plate 81 is also provided with a fixing hole 85, and the fixing hole 85 is arranged in a blade groove on the second base plate 81 and is used for fixing a blade arranged on the second base plate 85. In this example, the inner wall of the fixing hole 85 is provided with a conductive material, so that the purpose of the conductive material in the fixing hole 85 is to connect the second blade head 86 provided on the sliding plate 83 with the circuit board built in the sliding plate 83, and connect the second blade head 86 provided on the second base plate 81 with the circuit board built in the second base plate 81. The circuit board is provided with lamp beads.

An elastic member is provided between the slide plate 83 and the second base plate 81. Sliding the sliding plate 83 relative to the second base plate 81 by external force, so that the sliding plate 83 contacts the limiting device 87 to realize limiting; after the external force is released, the sliding plate 83 is reset due to the action of the elastic member.

In the implementation process, a wire is inserted into the first wire guide hole 84 through the first wire guide hole 84 arranged on the sliding plate 83 and goes deep into the second wire guide hole 82 on the second bottom plate 81, the sliding plate 83 is slid upwards, the second blade head 86 arranged on the second bottom plate 81 is matched with the second blade head 86 arranged on the sliding plate 83, the outer rubber layer of the wire is cut, after the insulating outer layer is cut, the second blade head 86 is contacted with copper wires or other conductive and communication materials in the wire, and a check terminal is inserted into the fixing hole 85, so that the conduction check of the wire is realized; limiting device 87 can limit the sliding range of sliding plate 83, so that the cutting depth of second blade head 86 is limited, the wire can not be cut off, and the wire cutting machine can be suitable for wires with different specifications.

A communication verification method, comprising the steps of:

step S1: an adjustment limiting device 87;

step S2: a sliding slide plate 83, which cuts the insulating outer layer of the wire through a second blade head 86 on the slide plate 83 and a second blade head 86 on a second bottom plate 81;

Step S3: observing whether a lamp bead arranged on the circuit board is on or not; if the first lamp bead is on, the second blade head 86 is indicated to cut the insulating outer layer of the lead, and the step S4 is entered; if the first lamp bead is not lightened, the second blade head 86 does not cut the insulating outer layer of the lead, and the step S1 is returned;

step S4: maintaining the sled 83 in contact with the stop 87; and checking the wiring connection condition of the lead through the lamp beads arranged on the circuit board, and ending the steps.

In the step S3, the circuit board is respectively located on the sliding plate 83 and the second bottom plate 81, wherein the circuit board is further connected with the second blade head 86, and if the first lamp bead on the circuit board is turned on, it is indicated that the second blade head 86 on the sliding plate 83 and the second blade head 86 on the second bottom plate 81 are conducted through the conductive wire, so that the first lamp bead forms a closed loop, and the first lamp bead emits light.

In the step S4, verification of the connection condition of the wire connection indicates the conduction condition between two devices connected to the two ends of the wire. Firstly, a signal cabinet connected through a wire is needed to transmit signals to the wire, and the wire transmission signals are transmitted to external signal detection equipment through a circuit board and a second blade head 86, wherein the signal detection equipment can be a computer; if the signal detection equipment detects a signal, the second lamp bead arranged on the circuit board is controlled to emit light, and the conducting wire is proved to be conducted, so that the signal can be transmitted. The second lamp bead is arranged to facilitate direct observation of conduction conditions of the lead. After the conduction of the verification wire, the manipulator is used for welding.

The above description is only one specific example of the present invention and does not constitute any limitation on the present invention. It will be apparent to those skilled in the art that various modifications and changes in form and details may be made without departing from the principles and construction of the invention, but these modifications and changes based on the inventive concept are still within the scope of the appended claims.

Claims

1. The robot for wire bonding is characterized by comprising a wire frame, an electric control vertical frame, a sliding table, an image acquisition device, a first manipulator, a second manipulator and a sleeve device; the first mechanical arm, the second mechanical arm and the sleeve device are respectively connected with a sliding table through a sliding structure, the sliding table is connected with the electric control stand through the sliding structure, and the sliding structure is a ball screw structure; the image acquisition device is arranged on the first manipulator or the second manipulator; the lead frame is fixedly arranged on the signal cabinet to be welded, and the first manipulator comprises a first transverse moving seat, a first rotating block and a first clamping device; the first rotating block is hinged to the first transverse moving seat and can rotate around the hinged part; a rotating motor is arranged at the hinge joint part of the first rotating block and the first transverse moving seat;

The wire traction structure is arranged on the first supporting frame and comprises a limiting head and a connecting base, wherein the limiting head and the connecting base are integrally manufactured, and the connecting base is arranged between the limiting head and the first supporting frame;

the limiting head is used for limiting the movement space of the lead;

2. The robot for wire bonding of claim 1 wherein said electrically controlled stand comprises a housing, a motion plate and a control module; wherein the control module is arranged in the box body; the moving plate is arranged on one side surface of the box body and is vertically arranged; the control module adopts a programmable singlechip, is used for controlling the actions of the first manipulator, the second manipulator and the sliding table, is also connected with the image acquisition device, and processes and identifies the image acquired by the image acquisition device.

3. A robot for wire bonding according to claim 2, wherein the moving plate is for connecting a slide table; a vertical ball screw structure is arranged on the moving plate; the vertical ball screw structure comprises a vertical motor, a vertical screw and a vertical ball nut; the vertical screw rod is arranged in the Y direction; two ends of the vertical screw rod are respectively connected with the moving plate through bearings; one end of the vertical screw rod is also provided with a vertical motor; the vertical ball nut is arranged on the vertical screw rod through a ball; the vertical ball nut is also connected with the sliding table.

4. A robot for wire bonding according to claim 3, wherein the slide table comprises a moving frame and a lateral ball screw structure; the transverse ball screw structure is arranged on the moving frame; the moving frame is connected with a sliding block on a sliding rail arranged on the moving plate; the transverse ball screw structure is connected with the first manipulator or the second manipulator; the transverse ball screw structure comprises a transverse motor, a transverse screw and a transverse ball nut; the transverse screw rod is positioned in the Z direction; the transverse screw rod is also connected with the moving frame through a bearing; the transverse motor is arranged on the moving frame.

5. The robot for wire bonding according to claim 1, wherein a V-shaped notch is provided at one side of the bonding head, and an arc groove is provided at the bottom of the V-shaped notch; the V-shaped notch is connected with a channel arranged in the welding head; the guide pipe is arranged on the substrate in a bonding way, one end of the guide pipe is close to the guide wheel, and the other end of the guide pipe is inserted into the welding head; the guide tube is communicated with the channel inside the welding head to reach the V-shaped notch part of the welding head; the welding wire wheel is arranged at one end of the first folded plate far away from the second folded plate and is connected with the first folded plate through the support frame; the support frame is hinged with two ends of the welding wire wheel and is fixedly connected with the base plate; a U-shaped notch is arranged on the support frame; hinge posts are arranged at two ends of the welding wire wheel, and the hinge posts are arranged in the U-shaped notch.

6. The robot for wire bonding of claim 1 wherein said second manipulator comprises a second traversing carriage, a second rotating block, and a second gripping device; the second rotating block is arranged on the second transverse moving seat; the second clamping device is arranged on the second rotating block; the second transverse moving seat and the second rotating block are hinged, and a rotating motor is arranged at the hinge part of the second rotating block and the second transverse moving seat;

7. The robot for wire bonding according to claim 6, wherein one end of the lifting cylinder one is hinged to the upper side plate of the fourth support frame; the other end of the lifting cylinder I is fixedly connected with a motor of a screw rod structure V; one end of the lifting cylinder II is arranged on the upper side plate of the fourth supporting frame, and the other end of the lifting cylinder II is arranged on the lower surface of the second connecting plate; the lifting cylinder II is a double-shaft cylinder; a limiting block is arranged between the lifting cylinder II and the sliding block of the screw rod structure V; the second connecting plate is a Z-shaped folded plate; the second wire clamp comprises a second left wire clamp and a second right wire clamp, wherein the second left wire clamp and the second right wire clamp are arranged in a mirror image manner; when the left wire clamp II and the right wire clamp II are attached, a waist-shaped hole is formed at the attaching part.

8. The robot for wire bonding according to claim 1, wherein the sleeve device is provided to the electric control stand through a slide table; the sleeve device comprises a third transverse moving seat, a third rotating block, a screw rod structure seven, a sleeve platform and sleeve equipment; the third traversing seat and the third rotating block are hinged, and a rotating motor is arranged at the hinged part of the third rotating block and the third traversing seat; the third transverse moving seat is connected with the sliding block of the sliding table; the screw rod structure seven is arranged on the third rotating block; the sleeve equipment is arranged on the sleeve platform; the sleeve platform is arranged on the ball nut of the screw rod structure seven.

9. The robot for wire bonding according to claim 1, wherein the lead frame is used for disposing a wire to be bonded; the lead frame is provided with a lead hook or a communication checking device; the communication checking device is used for checking the connection conduction condition of the lead.