CN113695698A - Robot welding device for circuit board maintenance and welding method thereof - Google Patents
Robot welding device for circuit board maintenance and welding method thereof Download PDFInfo
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- CN113695698A CN113695698A CN202110910088.0A CN202110910088A CN113695698A CN 113695698 A CN113695698 A CN 113695698A CN 202110910088 A CN202110910088 A CN 202110910088A CN 113695698 A CN113695698 A CN 113695698A
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- 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
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- 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
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K3/00—Apparatus or processes for manufacturing printed circuits
- H05K3/30—Assembling printed circuits with electric components, e.g. with resistor
- H05K3/32—Assembling printed circuits with electric components, e.g. with resistor electrically connecting electric components or wires to printed circuits
- H05K3/34—Assembling printed circuits with electric components, e.g. with resistor electrically connecting electric components or wires to printed circuits by soldering
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- Microelectronics & Electronic Packaging (AREA)
- Resistance Welding (AREA)
Abstract
The invention discloses a robot welding device for circuit board maintenance and a welding method thereof, belonging to the technical field of welding. The circuit board shell enters the conveying mechanism of the X-axis conveying line from the input end; the transport mechanism moves under the drive of the X-axis transport line and adjusts the position of the welding mechanism through the Y-axis moving mechanism and the Z-axis moving mechanism, so that the welding mechanism carries out maintenance welding according to a preset welding path, and after the maintenance is finished, the circuit board shell is output from the output end. The invention realizes the direct maintenance and welding of the circuit board in the shell by arranging the conveying mechanism which can clamp the shells with different sizes and shapes, omits the steps of disassembling the circuit board from the inside of the shell and re-installing the circuit board in the shell, improves the maintenance efficiency and simultaneously plays a role in protecting the circuit board.
Description
Technical Field
The invention belongs to the technical field of welding, and particularly relates to a robot welding device for circuit board maintenance and a welding method thereof.
Background
Currently, most appliances fail after a period of use. When these faults occur on the circuit board, repair soldering of the circuit board is required. However, in the conventional soldering repair of a circuit board in an electric appliance, the circuit board is first detached from the inside of a container, then the circuit board is repaired and soldered, and finally the circuit board is assembled. Not only is the process cumbersome, but also other undamaged positions or parts are likely to be damaged during disassembly or assembly, causing unnecessary trouble.
Disclosure of Invention
The invention provides a robot welding device which does not need to be disassembled and is applied to circuit board maintenance and a welding method thereof, aiming at solving the technical problems in the background technology.
The invention adopts the following technical scheme: robot welding set of circuit board maintenance usefulness includes:
the X-axis conveying line is arranged on the rack; one end of the X-axis transport line is an input end, and the other end of the X-axis transport line is an output end;
the conveying mechanism is connected to the X-axis conveying line in a transmission manner and moves back and forth between the input end and the output end; the transportation mechanism is provided with a clamping piece for clamping the circuit board shell; the clamping piece is suitable for clamping shells with different sizes;
the Y-axis moving mechanism is transversely arranged on the X-axis conveying line along the width of the X-axis conveying line;
the Z-axis moving mechanism is in transmission connection with the Y-axis moving mechanism;
the welding mechanism is in transmission connection with the Z-axis moving mechanism; when the circuit board transporting mechanism is used, the circuit board shell enters the transporting mechanism of the X-axis transporting line from the input end; the transport mechanism moves under the drive of the X-axis transport line and adjusts the position of the welding mechanism through the Y-axis moving mechanism and the Z-axis moving mechanism, so that the welding mechanism carries out maintenance welding according to a preset welding path, and after the maintenance is finished, the circuit board shell is output from the output end.
In a further embodiment, the predetermined welding path is embodied as: after the circuit board shell is fixed on the clamping piece, defining one end of the circuit board shell close to the output end as a front end, and defining one end close to the input end as a rear end; during welding, the X-axis conveying line drives the conveying mechanism to move from the input end to the output end according to a preset speed, the welding mechanism is welded from the front end to the rear end of the circuit board shell, and a path from the front end to the rear end is a wavy line.
Through adopting above-mentioned technical scheme, guarantee the uniformity of welding direction, the orderly welding of wellness improves welded efficiency, avoids appearing the phenomenon of omitting.
In a further embodiment, the transport mechanism comprises:
the transportation block is in transmission connection with the X-axis transportation line;
the placing frame is fixed on the upper surface of the transportation block; four top corners of the placing frame are inwards sunken to form U-shaped grooves with preset lengths along the diagonal direction;
the clamping blocks with the same number as the U-shaped grooves are correspondingly placed in the U-shaped grooves;
the driving assembly is arranged at the bottom of the placing frame and is connected to the clamping block in a transmission manner; the clamping blocks simultaneously perform gathering or diffusion movement under the action of the driving assembly and are arranged to clamp circuit board shells in different shapes and sizes.
In a further embodiment, the drive assembly comprises: the rotating piece is rotatably arranged at the center of the placing rack;
the four special-shaped connecting pieces are distributed on the periphery of the rotating piece at equal intervals; one end of the special-shaped connecting piece is hinged to the rotating piece, and the other end of the special-shaped connecting piece is hinged to the bottom of the clamping block; wherein, the bottoms of a group of clamping blocks which are arranged oppositely are provided with a bracket;
further comprising: at least one drives actuating cylinder, the stiff end that drives actuating cylinder articulates on one of them support, and the piston rod that drives actuating cylinder then the transmission is connected on another support through adopting above-mentioned technical scheme, and four grip blocks in the holder set up in four apex angle departments, and mutual position relation not only is fit for the location of square casing, still is applicable to the centre gripping of column casing simultaneously.
In a further embodiment, the welding mechanism comprises: the mounting part is in transmission connection with the Z-axis moving mechanism;
the reversing assembly is arranged at the bottom of the mounting piece;
the welding gun is in transmission connection with the reversing assembly;
and the tin feeding piece is obliquely arranged on the gun body of the welding gun.
In a further embodiment, a rotation assembly is provided on the gun body, the rotation assembly comprising:
the inner gear ring is sleeved on the gun body along the radial direction; the outer wall of the inner gear ring is provided with a connecting frame which extends outwards for a preset length, and the connecting frame is used for mounting a tin conveying piece;
the rotating motor is vertically fixed on the gun body and is positioned above the internal gear ring; the output shaft of the rotating motor is in transmission connection with a driving wheel; the driving wheel is meshed with the internal gear ring; when the point needing to be maintained is close to the circuit board shell, the tin feeding piece is rotated by rotating the motor, so that the tin feeding piece is back to the inner wall of the shell close to the tin feeding piece. When the welding gun needs to be in a vertical state, a forward and reverse rotating motor is started, a rotating wheel in transmission connection with the forward and reverse rotating motor drives an arc-shaped outer gear ring to rotate, and the welding gun fixed on a reversing plate connected with the arc-shaped outer gear ring is adjusted to be located at the axis position of an arc-shaped mounting plate; when the welding gun is required to be in an inclined state, the positive and negative rotating motor is started in the same way, the rotating wheel in transmission connection with the positive and negative rotating motor drives the arc-shaped outer gear ring to rotate, and the welding gun fixed on the reversing plate connected with the arc-shaped outer gear ring is adjusted to be located at the preset position of the arc-shaped mounting plate.
In a further embodiment, the reversing assembly comprises:
the arc-shaped mounting plate is arranged at the bottom of the mounting piece;
at least two groups of arc tracks are fixed on the arc mounting plate; each arc-shaped track is provided with a plurality of groups of sliding blocks;
the reversing plate is connected with the plurality of groups of sliding blocks; one end of the reversing plate is used for fixing a welding gun;
the arc outer wheel gear ring is fixed at the top of the reversing plate;
and the rotating wheel is arranged on the arc-shaped mounting plate and is meshed with the arc-shaped outer wheel gear ring.
In a further embodiment, the top end of the gun body is provided with a telescopic assembly configured to control the length of the welding gun extending into the circuit board housing.
The welding method using the robot welding device for circuit board maintenance comprises the following steps:
step one, adjusting an X-axis conveying line to enable a conveying mechanism to be located at the input end of the X-axis conveying line, wherein the conveying mechanism waits for a circuit board shell needing to be maintained and welded, and a mounted circuit board is arranged in the circuit board shell;
secondly, transporting the circuit board shell to a clamping piece in a transporting mechanism, and driving the transporting mechanism by an X-axis transporting line to enable the front end of the circuit board shell to be positioned below a welding gun;
adjusting the Y-axis moving mechanism and the Z-axis moving mechanism, and controlling an X-axis conveying line; the welding gun is used for welding the nodes needing to be maintained in a targeted mode and follows the following route: the welding mechanism is welded from the front end to the rear end of the circuit board shell, and a path from the front end to the rear end is a wavy line; when the welding mechanisms are positioned at the front end and two sides of the circuit board shell, executing a fourth step; executing a fifth step when the welding mechanism is positioned at the rear end of the circuit board shell; when the point needing to be maintained and welded is very close to the inner wall of the circuit board shell, executing a sixth step;
regulating the rotating assembly to control the direction of the tin conveying piece at the rear end;
regulating the rotating assembly to control the direction of the tin conveying piece at the front end;
sixthly, adjusting the reversing assembly, controlling the welding gun to be obliquely arranged, and adjusting the rotating assembly to enable the tin conveying piece to be located in the opposite direction of the inner wall of the current circuit board shell;
seventhly, the circuit board shell which is repaired and welded is transmitted to an output end to be output under the action of an X-axis conveying line; then the X-axis transport line moves in the reverse direction, and steps one to three are performed.
In a further embodiment, the method further comprises the following steps: when the height of the circuit board shell is higher than the preset value, the telescopic assembly is started, and the telescopic assembly extends the welding gun to the extending direction until the welding point of the welding gun is in point contact with the point to be maintained and welded.
The invention has the beneficial effects that: the invention realizes the direct maintenance and welding of the circuit board in the shell by arranging the conveying mechanism which can clamp the shells with different sizes and shapes, omits the steps of disassembling the circuit board from the inside of the shell and re-installing the circuit board in the shell, improves the maintenance efficiency and simultaneously plays a role in protecting the circuit board.
In addition, the X conveying line plays a role in positioning and adjusting during welding, and can also play a role in conveying circuit board shells to be maintained and maintained, so that whole-course intelligent management is realized.
Drawings
Fig. 1 is a plan view of a robot soldering apparatus for circuit board maintenance according to embodiment 1.
Fig. 2 is a bottom view of the holder in embodiment 1.
Fig. 3 is a schematic structural view of a welding mechanism in embodiment 1.
Fig. 4 is a partial structural schematic view of the rotating assembly in embodiment 1.
Each of fig. 1 to 4 is labeled as: the welding device comprises an X-axis conveying line 1, a conveying mechanism 2, a welding mechanism 3, a gun body 4, a tin feeding piece 5, a Y-axis moving mechanism 6, a Z-axis moving mechanism 7, a placing frame 201, a U-shaped groove 202, a clamping block 203, a rotating piece 204, a special-shaped connecting piece 205, a support 206, a driving cylinder 207, a mounting piece 301, an inner gear ring 302, a connecting frame 303, a driving wheel 304, an arc-shaped mounting plate 305, an arc-shaped track 306, a reversing plate 307, an arc-shaped outer gear ring 308 and a rotating wheel 309.
Detailed Description
The invention is further described in the following with reference to examples and the description of the figures.
Currently, short circuits or opens in many appliances need only be re-welded for re-use. Or when the circuit board is sent to a factory for maintenance, the circuit board is mainly aimed at the circuit part, namely, only the circuit board needs to be maintained. When a current maintenance factory repairs a circuit board in an electric appliance, the circuit board needs to be disassembled from the inside of a device, maintained and assembled at last. It is very likely that other undamaged locations or components will break down during disassembly or assembly.
In order to reduce the steps of detaching the circuit board from the inside of the shell and re-installing the circuit board in the shell during maintenance, the invention develops a robot welding device which does not need to be detached and is applied to the maintenance of the circuit board and a welding method thereof.
Example 1
In the present embodiment, the device case is collectively referred to as a case, and the device case with the circuit board is collectively referred to as a circuit board case. Based on the above description, in the present embodiment, the circuit board located in the housing is directly soldered inside the circuit board housing, and the size and shape of the circuit board housing are determined according to specific devices, so if the clamping jaw is used to carry to the side of the welding robot and then soldering is performed, there will be higher requirements on the clamping force and the clamping range of the clamping jaw, and even it is very troublesome to match different clamping jaws according to different devices.
As shown in fig. 1, a robot soldering apparatus for circuit board maintenance includes: an X-axis transport line 1 is arranged on the rack, one end of the X-axis transport line 1 is an input end, and the other end of the X-axis transport line 1 is an output end. In use, the circuit board housing is first transported by a further transport mechanism to the input end of the X-axis transport line into the soldering region. In other words, in the present embodiment, the circuit board housing is transferred to the soldering area in the form of a conveyor belt or a driving roller transport, instead of the above-described jaw gripper. Because conveyer belt or driving roller transportation can be used in the transportation of the circuit board casing of different sizes, different shapes and different weight completely, application scope is wide and the flexibility ratio is high and factor of safety is also high simultaneously.
In addition, the device also comprises a conveying mechanism 2 which is connected to the X-axis conveying line 1 in a transmission mode, and the conveying mechanism 2 realizes the reciprocating motion between the input end and the output end under the action of the X-axis conveying line. In this embodiment, the transport mechanism has a holding member for holding the circuit board case; the clamping piece is suitable for clamping shells of different sizes. The clamping piece is arranged to ensure that the circuit board shell cannot move during welding, so that the requirement of high-precision maintenance welding is met.
In a further embodiment, in order to achieve the basic requirements of welding, the method further comprises the following steps: a Y-axis moving mechanism 6, a Z-axis moving mechanism 7 and a welding mechanism 3. The Y-axis moving mechanism is transversely arranged on the X-axis conveying line along the width of the X-axis conveying line, namely the Z-axis moving mechanism and the X-axis conveying line are in a mutually vertical state. And the Z-axis moving mechanism is connected to the Y-axis moving mechanism in a transmission manner, and the Z-axis moving mechanism is connected with the welding mechanism in a transmission manner. In this embodiment, the X-axis transport line 1, the Y-axis moving mechanism 6, and the Z-axis moving mechanism 7 can be implemented by using the existing screw transmission, gear rack, or conveyor belt, and therefore, the details are not described in this embodiment.
Based on the above description, the X-axis transport line is used to control the movement of the circuit board housing in the X-axis direction; the Z-axis moving mechanism is used for realizing the movement of the welding mechanism in the Z-axis direction, and the Y-axis moving mechanism is used for controlling the movement of the welding mechanism in the Y-axis direction. And the maintenance welding at the designated (X, Y, Z) point to be maintained is realized through an X-axis conveying line, a Y-axis moving mechanism and a Z-axis moving mechanism. When the circuit board transporting mechanism is used, the circuit board shell enters the transporting mechanism of the X-axis transporting line from the input end; the transport mechanism moves under the drive of the X-axis transport line and adjusts the position of the welding mechanism through the Y-axis moving mechanism and the Z-axis moving mechanism, so that the welding mechanism carries out maintenance welding according to a preset welding path, and after the maintenance is finished, the circuit board shell is output from the output end.
In a further embodiment, the predetermined welding path is embodied as: after the circuit board shell is fixed on the clamping piece, defining one end of the circuit board shell close to the output end as a front end, and defining one end close to the input end as a rear end; during welding, the X-axis conveying line drives the conveying mechanism to move from the input end to the output end according to a preset speed, the welding mechanism is welded from the front end to the rear end of the circuit board shell, and a path from the front end to the rear end is a wavy line. In other words, in the above process, the X-axis transport line transports the transport mechanism from the output end to the input end at a predetermined transport speed, and when the welding mechanism is in the welding state, the X-axis transport line suspends transporting the time and the fixed space for the welding mechanism to provide welding (the welding direction is from the output end to the input end). After the current point is welded, the X-axis transport line moves to the output end for a preset distance, and the distance is the X-axis distance between the current welding gun and the next point to be maintained. And analogizing in sequence until all the circuits in all the circuit board shells are repaired, and increasing the speed of the X-axis conveying line to convey the repaired circuit board shells to the output end.
Based on the description of the mechanism, when welding, especially welding the position close to the inner wall of the shell, certain acting force is applied to the circuit board shell, so that the circuit board shell moves, and the precision of maintenance welding is affected.
Therefore, a certain clamping force is firstly required on the circuit board shell, but the size and the shape of the circuit board shell are considered to be determined according to specific devices, and the types of the devices are very many. Therefore, the clamping mechanism is used in the embodiment, when the basic horizontal upward limitation is provided for the circuit board shell, the clamping mechanism can also clamp circuit board shells with different sizes and shapes. As shown in fig. 2, the transport mechanism includes: the transportation block is connected to the X-axis transportation line in a transmission mode, and a clamping piece is arranged on the transportation block. The holder embodies: the placing surface of the placing frame 201 is quadrilateral in the present embodiment, and each top corner is recessed inwards with a u-shaped groove 202 of a predetermined depth along the diagonal direction. A clamping block 203 is movably arranged in each U-shaped groove 202, and in order to drive the clamping blocks to perform gathering or diffusion movement, a driving assembly is arranged at the bottom of the placing frame and is simultaneously connected with four groups of clamping blocks in a transmission manner. When the clamping device is used, the clamping blocks are driven by the driving assembly to simultaneously perform gathering or diffusion movement so as to clamp circuit board shells with different shapes and sizes.
In a further embodiment, for better control of the four sets of clamping blocks, the drive assembly comprises: the rotating member 204 is rotatably installed at the bottom of the placing frame and is located at the center, and in the embodiment, the rotating member 204 is also square. Four top corners of the rotating member are respectively hinged with four groups of special-shaped connecting members 205, wherein the special-shaped connecting members are L-shaped. During assembly, one end of the special-shaped connecting piece 205 is hinged to the rotating piece 204, the other end of the special-shaped connecting piece is hinged to the bottom of the clamping block, the bottom of one group of clamping blocks which are arranged oppositely is provided with a support, and the two groups of supports are in transmission connection through a driving cylinder. In other words, the fixed end of the driving cylinder is hinged to one of the brackets, and the piston rod of the driving cylinder 207 is drivingly connected to the other bracket 206.
When using, one of them limit of rack is parallel to each other with the direction of transportation of X axle supply line, and the distance between four grip blocks on the rack is the biggest (defines as initial position), on the circuit board casing that needs the maintenance was transported to the rack, driving motor is in compression state, drive two sets of grip blocks of being connected with it transmission and move in opposite directions, under the effect of rotating member and heterotypic connecting piece, the relative motion is done equally to another a set of grip block, four grip blocks slowly gather together, until offseting with the circuit board casing, required location when providing the welding.
On the contrary, after the maintenance welding is finished, the driving motor is in a stretching state, the two groups of clamping blocks in transmission connection with the driving motor are driven to move reversely, under the action of the rotating piece and the special-shaped connecting piece, the other group of clamping blocks do the backward movement, the four clamping blocks are slowly opened until the initial positions are recovered, the preparation is made for unloading, transferring and transporting at the input end, and the preparation is also made for clamping the next circuit board shell to be maintained. Four grip blocks in this holder set up in four apex angle departments, and mutual position relation not only is fit for the location of square casing, still is applicable to the centre gripping of column casing simultaneously.
Based on the above structure, the welding mechanism in the present embodiment includes: mounting piece 301, reversing assembly, soldering and tin conveying piece. Wherein, the installed part transmission is connected on Z axle moving mechanism, and the bottom at the installed part is then installed to the switching-over subassembly, and welder then transmission is connected in the switching-over subassembly, send the tin spare then the slope fix on welder's rifle body.
In above-mentioned structure, set up the switching-over subassembly that is used for adjusting welder and send the inclination of tin spare, one is for being applicable to the angle that different occasions demand, and another is that the welding of considering in this embodiment is gone on in the inside of casing, and the effect that the casing had played the protection at first avoids the welded flue gas to disperse too fast. But the housing acts as a barrier in space. In other words, when the point of the circuit board which does not need to be maintained and welded is located at the edge of the circuit board, the circuit board shell is very close to the circuit board shell, and the welding gun and the tin feeding piece are both provided with certain widths, so if the welding gun is still vertically placed and welded at the moment, the welding gun and the tin feeding piece with certain widths are tightly attached to the inner wall of the shell, but the welding head of the welding gun and the point to be maintained and welded cannot be in contact (the movement of the welding gun is limited in space) even though the welding gun and the tin feeding piece with certain widths are tightly attached to the inner wall of the shell, therefore, the welding gun needs to be slightly inclined to extend into the shell in an inclined mode (a preset distance is reserved between the top of the welding gun and the shell, and the welding head of the welding gun and the shell are close to each other), and the welding is realized through the reversing assembly. As shown in fig. 3, the reversing assembly includes: the arc-shaped mounting plate 305 is fixed to the bottom of the mounting piece 301, the arc-shaped mounting plate is arranged to provide an inclination angle when the welding gun swings, and the inclination angle is controlled to be +/-0-45 degrees. Two groups of arc-shaped rails 306 with the same radian are arranged on the arc-shaped mounting plate 305, a plurality of groups of sliding blocks are arranged on each group of arc-shaped rails, and it is required to be noted that the sliding blocks are connected with the arc-shaped rails through interference fit. The slide block is fixedly connected with a reversing plate 307, and one side of the reversing plate 307 is fixedly connected with a welding gun. In order to drive the reversing plate to rotate, an arc-shaped outer gear ring 302 is arranged at the top of the reversing plate, and a rotating wheel 309 meshed with an arc-shaped outer gear ring 308 is arranged on an arc-shaped mounting plate 305 and is in transmission connection with a positive and negative motor.
When the welding gun is used, when the welding gun needs to be in a vertical state, the forward and reverse rotating motor is started, the rotating wheel in transmission connection with the forward and reverse rotating motor drives the arc-shaped outer gear ring to rotate, and the welding gun fixed on the reversing plate connected with the arc-shaped outer gear ring is adjusted to be located at the axis position of the arc-shaped mounting plate; when the welding gun is required to be in an inclined state, the forward and reverse rotating motor is started in the same way, the rotating wheel 309 in transmission connection with the forward and reverse rotating motor drives the arc-shaped outer gear ring to rotate, and the welding gun fixed on the reversing plate connected with the arc-shaped outer gear ring is adjusted to be located at the preset position of the arc-shaped mounting plate.
Based on the structure, the maintenance welding of the circuit board is different from the welding in the manufacturing process of the circuit board, the circuit board is clamped and fixed and then welded by using a welding machine in the manufacturing process of the circuit board, firstly, the clamping of one plate is carried out, and secondly, the welding process cannot be hindered in any space. In the above embodiment, the circuit board inside the casing is soldered, and although the above structure has solved the problem of space obstruction caused by the casing, since one side of the soldering gun is provided with the necessary tin feeding member, when the soldering gun maintains the inner periphery of the casing, the tin feeding member will collide with the inner wall of the casing no matter which side of the casing the soldering gun is located at, and secondary obstruction is formed in space. Therefore, to solve this problem, in a further embodiment, the following modifications are made to the relationship between the tin feed and the welding gun:
the cavity of the welding gun is provided with a rotating assembly, and the tin feeding piece is simultaneously in transmission connection with the rotating assembly. Wherein, the rotating assembly includes: the inner gear ring 302 is sleeved on the cavity along the radial direction, and the bearing is adopted for sleeving. And the outer wall of the inner gear ring 302 is provided with a connecting frame 303 which extends outwards for a preset length and is used for installing a tin feeding piece. The device also comprises a rotating motor vertically fixed on one side of the cavity, and an output shaft of the rotating motor is in transmission connection with a driving wheel. The driving wheel is meshed with the internal gear ring; when the point needing to be maintained is close to the circuit board shell, the tin feeding piece is rotated by rotating the motor, so that the tin feeding piece is back to the inner wall of the shell close to the tin feeding piece. For example, the following steps are carried out: when the point needing to be maintained and welded is located on the right inner wall of the shell and the next point needing to be maintained and welded is located on the left inner wall of the shell, when the current point (located on the right inner wall of the shell) is maintained, in order to avoid space obstruction, the tin conveying piece is located on the right side, the front side or the rear side of the cavity under the control of the rotating assembly; then, under the action of a Y-axis moving mechanism, the welding gun is transferred to the next point needing welding, namely the left inner wall of the shell; the tin feeding piece is positioned at the front side or the rear side of the cavity under the control of the rotating assembly.
In the present embodiment, the welding route is as follows: the X-axis transport line transports the transport mechanism from the output end to the input end according to a preset transport speed, and when the welding mechanism is in a welding state, the X-axis transport line suspends transport of time and a fixed space for the welding mechanism to provide welding (the welding direction is from the output end to the input end). That is, the welding is performed first near the front end of the case, and then in the process of welding gradually from the front end toward the rear end, welding inevitably occurs on both the left and right sides of the case, in turn, between reaching the rear end of the case. The tin feeding piece is adjusted to be always positioned at the rear end, namely the rear side, of the welding gun by using the rotating assembly (namely welding at the front end, the left side and the right side of the shell is not influenced); when the welding gun reaches the rear end, the tin feeding piece is adjusted by the rotating assembly to be always positioned at the front end of the welding gun, and the welding of the left side and the right side during the welding at the rear end is not influenced.
Based on the above description: the welding method of the robot welding device for circuit board maintenance comprises the following steps:
step one, adjusting an X-axis conveying line to enable a conveying mechanism to be located at the input end of the X-axis conveying line, wherein the conveying mechanism waits for a circuit board shell needing to be maintained and welded, and a mounted circuit board is arranged in the circuit board shell; (the X-axis transport line at this time is the loading transport before welding)
Secondly, transporting the circuit board shell to a clamping piece in a transporting mechanism, and driving the transporting mechanism by an X-axis transporting line to enable the front end of the circuit board shell to be positioned below a welding gun;
adjusting the Y-axis moving mechanism and the Z-axis moving mechanism, and controlling an X-axis conveying line, wherein the X-axis conveying is to determine a welding point with the Y-axis moving mechanism and the Z-axis moving mechanism; the welding gun is used for welding the nodes needing to be maintained in a targeted mode and follows the following route: the welding mechanism is welded from the front end to the rear end of the circuit board shell, and a path from the front end to the rear end is a wavy line; when the welding mechanisms are positioned at the front end and two sides of the circuit board shell, executing a fourth step; executing a fifth step when the welding mechanism is positioned at the rear end of the circuit board shell; when the point needing to be maintained and welded is very close to the inner wall of the circuit board shell, executing a sixth step;
regulating the rotating assembly to control the direction of the tin conveying piece at the rear end (namely, the tin conveying piece is positioned at the rear end);
regulating the rotating assembly to control the direction of the tin conveying piece at the front end;
sixthly, adjusting the reversing assembly, controlling the welding gun to be obliquely arranged, and adjusting the rotating assembly to enable the tin conveying piece to be located in the opposite direction of the inner wall of the current circuit board shell;
seventhly, the circuit board shell which is repaired and welded is transmitted to an output end to be output under the action of an X-axis conveying line (the X-axis conveying line is used for unloading and conveying at the moment); then the X-axis transport line moves in the reverse direction, and steps one to three are performed.
Example 2
Also, it is considered that the circuit board is always inside the housing, and the housing is not fixed in shape and size according to the description of embodiment 1, that is, it means that the height of some housings is lower or higher.
When the shell is higher, it is difficult to ensure that the welding gun can reach the circuit board and perform welding, so the following improvements are made: the top end of the gun body is provided with a telescopic assembly, and the telescopic assembly is used for controlling the length of the welding gun extending into the circuit board shell. In this embodiment, the telescopic assembly can be realized by using a cylinder or an existing telescopic rod, and therefore, the details are omitted. It is noted that the gun body is mounted at the end of the retraction assembly.
When the welding gun is used, when the height of the circuit board shell is higher than a preset value, the telescopic assembly is started, and the telescopic assembly extends the welding gun to the extending direction until the welding point of the welding gun is in point contact with a point to be maintained and welded. The extension of the welding gun in space is increased, and the welding gun is suitable for higher welding maintenance of the outer wall of the shell.
Claims (10)
1. Robot welding set of circuit board maintenance usefulness, its characterized in that includes:
the X-axis conveying line is arranged on the rack; one end of the X-axis transport line is an input end, and the other end of the X-axis transport line is an output end;
the conveying mechanism is connected to the X-axis conveying line in a transmission manner and moves back and forth between the input end and the output end; the transportation mechanism is provided with a clamping piece for clamping the circuit board shell; the clamping piece is suitable for clamping shells with different sizes;
the Y-axis moving mechanism is transversely arranged on the X-axis conveying line along the width of the X-axis conveying line;
the Z-axis moving mechanism is in transmission connection with the Y-axis moving mechanism;
the welding mechanism is in transmission connection with the Z-axis moving mechanism; when the circuit board transporting mechanism is used, the circuit board shell enters the transporting mechanism of the X-axis transporting line from the input end; the transport mechanism moves under the drive of the X-axis transport line and adjusts the position of the welding mechanism through the Y-axis moving mechanism and the Z-axis moving mechanism, so that the welding mechanism carries out maintenance welding according to a preset welding path, and after the maintenance is finished, the circuit board shell is output from the output end.
2. A robotic soldering device for circuit board maintenance according to claim 1,
the predetermined welding path is embodied as: after the circuit board shell is fixed on the clamping piece, defining one end of the circuit board shell close to the output end as a front end, and defining one end close to the input end as a rear end; during welding, the X-axis conveying line drives the conveying mechanism to move from the input end to the output end according to a preset speed, the welding mechanism is welded from the front end to the rear end of the circuit board shell, and a path from the front end to the rear end is a wavy line.
3. A robotic soldering device for circuit board servicing according to claim 1, wherein the transport mechanism comprises:
the transportation block is in transmission connection with the X-axis transportation line;
the placing frame is fixed on the upper surface of the transportation block; four top corners of the placing frame are inwards sunken to form U-shaped grooves with preset lengths along the diagonal direction;
the clamping blocks with the same number as the U-shaped grooves are correspondingly placed in the U-shaped grooves;
the driving assembly is arranged at the bottom of the placing frame and is connected to the clamping block in a transmission manner; the clamping blocks simultaneously perform gathering or diffusion movement under the action of the driving assembly and are arranged to clamp circuit board shells in different shapes and sizes.
4. A robotic soldering device for circuit board maintenance according to claim 3,
the drive assembly includes: the rotating piece is rotatably arranged at the center of the placing rack;
the four special-shaped connecting pieces are distributed on the periphery of the rotating piece at equal intervals; one end of the special-shaped connecting piece is hinged to the rotating piece, and the other end of the special-shaped connecting piece is hinged to the bottom of the clamping block; wherein, the bottoms of a group of clamping blocks which are arranged oppositely are provided with a bracket;
further comprising: the fixed end of the driving cylinder is hinged to one of the supports, and the piston rod of the driving cylinder is connected to the other support in a transmission mode.
5. A robotic soldering device for circuit board maintenance according to claim 1,
the welding mechanism includes: the mounting part is in transmission connection with the Z-axis moving mechanism;
the reversing assembly is arranged at the bottom of the mounting piece;
the welding gun is in transmission connection with the reversing assembly;
and the tin feeding piece is obliquely arranged on the gun body of the welding gun.
6. A robotic soldering device for circuit board maintenance according to claim 5,
be provided with runner assembly on the rifle body, runner assembly includes:
the inner gear ring is sleeved on the gun body along the radial direction; the outer wall of the inner gear ring is provided with a connecting frame which extends outwards for a preset length, and the connecting frame is used for mounting a tin conveying piece;
the rotating motor is vertically fixed on the gun body and is positioned above the internal gear ring; the output shaft of the rotating motor is in transmission connection with a driving wheel; the driving wheel is meshed with the internal gear ring; when the point needing to be maintained is close to the circuit board shell, the tin feeding piece is rotated by rotating the motor, so that the tin feeding piece is back to the inner wall of the shell close to the tin feeding piece.
7. A robotic soldering device for circuit board maintenance according to claim 5,
the commutation module comprises:
the arc-shaped mounting plate is arranged at the bottom of the mounting piece;
at least two groups of arc tracks are fixed on the arc mounting plate; each arc-shaped track is provided with a plurality of groups of sliding blocks;
the reversing plate is connected with the plurality of groups of sliding blocks; one end of the reversing plate is used for fixing a welding gun;
the arc outer wheel gear ring is fixed at the top of the reversing plate;
and the rotating wheel is arranged on the arc-shaped mounting plate and is meshed with the arc-shaped outer wheel gear ring.
8. A robotic soldering device for circuit board maintenance according to claim 5,
the top of the rifle body is provided with flexible subassembly, flexible subassembly is set up to be used for controlling welder to stretch into the length in the circuit board casing.
9. A soldering method using the robot soldering apparatus for circuit board maintenance according to any one of claims 1 to 8, characterized by comprising the steps of:
step one, adjusting an X-axis conveying line to enable a conveying mechanism to be located at the input end of the X-axis conveying line, wherein the conveying mechanism waits for a circuit board shell needing to be maintained and welded, and a mounted circuit board is arranged in the circuit board shell;
secondly, transporting the circuit board shell to a clamping piece in a transporting mechanism, and driving the transporting mechanism by an X-axis transporting line to enable the front end of the circuit board shell to be positioned below a welding gun;
adjusting the Y-axis moving mechanism and the Z-axis moving mechanism, and controlling an X-axis conveying line; the welding gun is used for welding the nodes needing to be maintained in a targeted mode and follows the following route: the welding mechanism is welded from the front end to the rear end of the circuit board shell, and a path from the front end to the rear end is a wavy line; when the welding mechanisms are positioned at the front end and two sides of the circuit board shell, executing a fourth step; executing a fifth step when the welding mechanism is positioned at the rear end of the circuit board shell; when the point needing to be maintained and welded is very close to the inner wall of the circuit board shell, executing a sixth step;
regulating the rotating assembly to control the direction of the tin conveying piece at the rear end;
regulating the rotating assembly to control the direction of the tin conveying piece at the front end;
sixthly, adjusting the reversing assembly, controlling the welding gun to be obliquely arranged, and adjusting the rotating assembly to enable the tin conveying piece to be located in the opposite direction of the inner wall of the current circuit board shell;
seventhly, the circuit board shell which is repaired and welded is transmitted to an output end to be output under the action of an X-axis conveying line; then the X-axis transport line moves in the reverse direction, and steps one to three are performed.
10. The soldering method of a robot soldering apparatus for circuit board maintenance according to claim 9, further comprising the steps of: when the height of the circuit board shell is higher than the preset value, the telescopic assembly is started, and the telescopic assembly extends the welding gun to the extending direction until the welding point of the welding gun is in point contact with the point to be maintained and welded.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110910088.0A CN113695698A (en) | 2021-08-09 | 2021-08-09 | Robot welding device for circuit board maintenance and welding method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110910088.0A CN113695698A (en) | 2021-08-09 | 2021-08-09 | Robot welding device for circuit board maintenance and welding method thereof |
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| Publication Number | Publication Date |
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| CN113695698A true CN113695698A (en) | 2021-11-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110910088.0A Withdrawn CN113695698A (en) | 2021-08-09 | 2021-08-09 | Robot welding device for circuit board maintenance and welding method thereof |
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| Country | Link |
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| CN (1) | CN113695698A (en) |
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|---|---|---|---|---|
| CA1211226A (en) * | 1982-10-18 | 1986-09-09 | Francis C. Peterson | Printed circuit board fastener assembly and method |
| CN203679473U (en) * | 2014-01-13 | 2014-07-02 | 昆山和协荣威精密机械有限公司 | Table-type three-axis welding machine |
| CN105583483A (en) * | 2014-11-12 | 2016-05-18 | 深圳市宝瑞达科技有限公司 | Automatic detecting and maintaining device for welding spot faults of circuit board |
| CN207858777U (en) * | 2018-02-06 | 2018-09-14 | 梁伟崇 | A kind of rotation clamping tooling platform |
| CN110213956A (en) * | 2019-06-13 | 2019-09-06 | 深圳市海铭德科技有限公司 | Patch integrated equipment and method are turned over for tearing open for the automatic assembly line of flexible circuit board |
| CN211135851U (en) * | 2019-12-13 | 2020-07-31 | 福清市卡托乐科技有限公司 | Automatic spot welding device is used in circuit board production |
| CN111633364A (en) * | 2020-06-10 | 2020-09-08 | 江苏瑞伯特智能科技股份有限公司 | Single-side welding and double-side forming welding robot |
| CN213531138U (en) * | 2020-09-04 | 2021-06-25 | 东港市大河电子有限公司 | Automatic soldering equipment for electronic components |
-
2021
- 2021-08-09 CN CN202110910088.0A patent/CN113695698A/en not_active Withdrawn
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA1211226A (en) * | 1982-10-18 | 1986-09-09 | Francis C. Peterson | Printed circuit board fastener assembly and method |
| CN203679473U (en) * | 2014-01-13 | 2014-07-02 | 昆山和协荣威精密机械有限公司 | Table-type three-axis welding machine |
| CN105583483A (en) * | 2014-11-12 | 2016-05-18 | 深圳市宝瑞达科技有限公司 | Automatic detecting and maintaining device for welding spot faults of circuit board |
| CN207858777U (en) * | 2018-02-06 | 2018-09-14 | 梁伟崇 | A kind of rotation clamping tooling platform |
| CN110213956A (en) * | 2019-06-13 | 2019-09-06 | 深圳市海铭德科技有限公司 | Patch integrated equipment and method are turned over for tearing open for the automatic assembly line of flexible circuit board |
| CN211135851U (en) * | 2019-12-13 | 2020-07-31 | 福清市卡托乐科技有限公司 | Automatic spot welding device is used in circuit board production |
| CN111633364A (en) * | 2020-06-10 | 2020-09-08 | 江苏瑞伯特智能科技股份有限公司 | Single-side welding and double-side forming welding robot |
| CN213531138U (en) * | 2020-09-04 | 2021-06-25 | 东港市大河电子有限公司 | Automatic soldering equipment for electronic components |
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Application publication date: 20211126 |