CN118143526A - Automatic welding robot, welding method thereof and storage medium - Google Patents
Automatic welding robot, welding method thereof and storage medium Download PDFInfo
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- CN118143526A CN118143526A CN202211521385.7A CN202211521385A CN118143526A CN 118143526 A CN118143526 A CN 118143526A CN 202211521385 A CN202211521385 A CN 202211521385A CN 118143526 A CN118143526 A CN 118143526A
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- 238000005476 soldering Methods 0.000 claims description 18
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Classifications
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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
-
- 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
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Abstract
The embodiment of the invention provides an automatic welding robot, a welding method thereof and a storage medium, belonging to the technical field of welding. The automatic welding robot comprises a robot main body, a mechanical arm and a welding device, wherein the robot main body comprises a control system; the mechanical arm is connected with the robot main body, and the control system controls the mechanical arm to execute actions; the welding device is detachably arranged at the end part of the mechanical arm far away from the robot main body, and the control system controls the welding device to execute welding action; the welding device comprises an image acquisition module, a buffer module and a welding module, wherein the welding module is connected with the buffer module so that rebound buffering can occur between the welding module and an object to be welded when the welding module is used for welding. The automatic welding robot provided by the embodiment of the invention can obtain a welding effect with higher consistency, realize efficient and accurate welding and effectively improve the welding quality.
Description
Technical Field
The embodiment of the invention relates to the technical field of welding, in particular to an automatic welding robot, a welding method thereof and a storage medium.
Background
With the increasing development of the 3C industry, the semiconductor industry, and the like, the demand of printed circuit boards is increasing, and the demands for soldering efficiency, soldering consistency, soldering quality, and man-machine cooperation of the soldering of the plug-in components on the printed circuit board assembly are increasing. When the existing industrial welding robot is used for welding the printed circuit board, a protective fence needs to be arranged and no ginseng can work with the protective fence; after the industrial welding robot finishes welding, manual assistance is also needed to cooperatively perform quality inspection and welding of auxiliary local welding spots of the handheld electric soldering iron so as to improve welding quality. This results in lower welding efficiency, weld consistency and weld quality. In addition, because tin smoke can be generated in the welding process, the handheld electric soldering iron can also have negative effects on the health of operators.
Disclosure of Invention
The embodiment of the invention mainly aims to provide an automatic welding robot, which aims to solve the problems of low welding efficiency, low welding consistency and low welding quality of the conventional printed circuit board assembly plug-in components.
An automatic welding robot, comprising:
a robot body including a control system;
The mechanical arm is connected with the robot main body, and the control system controls the mechanical arm to execute actions;
The welding device is detachably arranged at the end part of the mechanical arm, which is far away from the robot main body, and the control system controls the welding action; the welding device comprises an image acquisition module, a buffer module and a welding module, wherein the welding module is connected with the buffer module so as to enable rebound buffering to occur with a to-be-welded object when the welding module is welded.
In some embodiments, the welding device further comprises a base detachably connected to the robotic arm;
The image acquisition module and the buffer module are respectively movably installed on the base.
In some embodiments, the base includes a connecting member, a first mounting member and a second mounting member, the connecting member is detachably connected with the mechanical arm, the first mounting member and the second mounting member are respectively connected with the connecting member, the image acquisition module is mounted on the first mounting member, and the buffer module is connected with the second mounting member.
In some embodiments, the base further comprises a sliding rail fixed to the second mounting member, and the buffer module is movably mounted to the sliding rail to indirectly connect with the second mounting member.
In some embodiments, the second mounting member includes an arcuate plate body coupled to the connector member and a mounting plate body movable relative to the arcuate plate body along an arcuate extension trajectory of the arcuate plate body; the sliding rail is installed on the installation plate body.
In some embodiments, the image acquisition module includes a vision sensor that identifies and acquires a location identification point of the object to be welded.
In some embodiments, the image acquisition module further comprises a light source that supplements light when the vision sensor performs the pattern acquisition.
In some embodiments, the soldering module includes a heating member and a solder transport member, the heating member and the solder transport member being respectively connected with the buffer module.
In some embodiments, the buffer module includes a fixing plate and an elastic member, the welding module is connected with the fixing plate, the fixing plate is mounted on the sliding rail and can reciprocate on the sliding rail, and the elastic member is connected between the fixing plate and the second mounting member to provide power for resetting of the fixing plate in reciprocating motion.
In some embodiments, the mechanical arm includes an anti-collision sensor and a plurality of arm shafts, the arm shafts are sequentially connected and two adjacent arm shafts can move relatively, each arm shaft is correspondingly provided with at least one anti-collision sensor, and the anti-collision sensor senses the collision suffered by the arm shaft and feeds back to the control system so that the control system can control whether the mechanical arm continues to execute the action.
In some embodiments, the robot body further includes a proximity sensor for sensing whether a surrounding person or object approaches the robot and feeding back a sensed signal to the control system to control whether the robot arm continues to perform an action.
In some embodiments, the robot body further includes a photoelectric sensor for sensing whether the object to be welded enters the welding position or whether other objects affect welding, and feeding back the sensed signal to the control system.
Compared with the prior art, the automatic welding robot provided by the embodiment of the invention has the advantages that the welding device is arranged at one end of the mechanical arm, the welding device comprises the image acquisition module, the buffer module and the welding module, the image acquisition module is used for identifying and acquiring objects to be welded, the objects to be welded are confirmed after calibration calculation, the calculated coordinates of the objects to be welded are fed back to the control system, the mechanical arm is controlled by the control system to carry the welding module and transfer the coordinates to the objects to be welded, the control system is used for controlling the welding module to heat welding materials to weld the objects to be welded, and under the action of the buffer module, the welding module immediately rebounds and buffers in a direction far away from the objects to be welded when touching the objects to be welded to finish welding, so that the objects to be welded are prevented from being excessively welded or damaged, and the welding has higher consistency.
The second aspect of the embodiment of the invention provides a welding method of an automatic welding robot, which specifically adopts the following technical means:
A welding method of an automatic welding robot, comprising the steps of:
conveying the object to be welded to a position where the automatic welding robot can weld;
the control system controls the mechanical arm to carry the welding device to approach the object to be welded;
the control system receives coordinates of a to-be-welded point, wherein the coordinates of the to-be-welded point are identified, collected and calibrated by the image collecting module to the position identification point of the to-be-welded object so as to confirm the coordinates of the to-be-welded point of the to-be-welded object;
The control system controls the mechanical arm to carry the welding module to transfer to the coordinate of the to-be-welded point and controls the welding module to heat the welding flux arranged on the welding module, and controls the welding module to weld the to-be-welded point, when the welding module contacts with the to-be-welded point, the buffer module deforms to buffer the to-be-welded object, and when the welding module completes welding, the buffer module recovers from a deformed state.
In some embodiments, the object to be soldered comprises a printed circuit board assembly and the object to be soldered comprises pins of an interposer element.
Compared with the prior art, the welding method of the automatic welding robot provided by the embodiment of the invention has the characteristics of good welding accuracy, higher welding consistency, higher welding quality and higher welding efficiency because the automatic welding robot is used for welding.
A third aspect of the embodiments of the present invention provides a storage medium, which adopts the following specific technical means:
a storage medium having stored therein computer executable instructions configured to perform the steps of the welding method of an automated welding robot described above.
Compared with the prior art, the storage medium provided by the embodiment of the invention can realize a high-precision welding effect, has good welding consistency and can realize a high-quality and high-efficiency welding effect when the welding operation of the automatic welding robot is executed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic perspective view of an automatic welding robot according to an embodiment of the present invention;
Fig. 2 is a schematic perspective view of a welding device according to an embodiment of the present invention;
FIG. 3 is a schematic front view of a welding device according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an explosion structure of a second mounting member, a buffer module and a welding module according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a control relationship of an automatic welding robot according to an embodiment of the present invention;
fig. 6 is a simplified schematic diagram of an automatic welding robot according to an embodiment of the present invention during operation.
Reference numerals illustrate:
10. an automatic welding robot;
11. a robot main body; 111. a control system; 112. a proximity sensor; 113. a photoelectric sensor;
12. a mechanical arm; 121. an arm shaft; 122. an anti-collision sensor;
13. A welding device; 131. an image acquisition module; 1311. a visual sensor; 1312. a light source; 132. a buffer module; 1321. a fixing plate; 1322. an elastic member; 133. a welding module; 1331. a heating member; 1332. a solder delivery member; 134. a base; 1341. a connecting piece; 1342. a first mounting member; 1343. a second mounting member; 13431. an arc-shaped plate body; 13432. a mounting plate body; 1344. a slide rail; 1345. and a third mounting member.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It is to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
The automatic welding robot 10 and its components provided in the embodiments of the present invention are shown in fig. 1 to 5.
Referring to fig. 1,2 and 5, an automatic welding robot 10 according to an embodiment of the present invention includes a robot body 11, a mechanical arm 12 and a welding device 13. Wherein the robot body 11 comprises a control system 111; the mechanical arm 12 is connected with the robot main body 11, and the control system 111 controls the mechanical arm 12 to execute actions; the welding device 13 is detachably arranged at the end part of the mechanical arm 12 far away from the robot main body 11, and the control system 111 controls the welding action; the welding device 13 comprises an image acquisition module 131, a buffer module 132 and a welding module 133, wherein the welding module 133 is connected with the buffer module 132 so that rebound buffering can occur between the welding module 133 and an object to be welded when the welding module 133 is welded. According to the automatic welding robot 10 provided by the embodiment, the control system 111 controls the mechanical arm 12 to drive the welding device 13 to weld the object to be welded, specifically, the control system 111 controls the mechanical arm 12 to execute the action, when the mechanical arm 12 executes the action, the control system 111 receives the coordinates of the object to be welded, the coordinates of the object to be welded are identified and collected by the image collecting module 131 and are obtained through confirmation after calibration calculation, the control system 111 controls the mechanical arm 12 to carry the welding module 133 to be transferred to the object to be welded, the control system 111 controls the welding module 133 to heat the welding material to be welded, and in the welding process, under the action of the buffer module 132, the welding module 133 immediately rebounds and buffers in the direction away from the object to be welded when touching the object to be welded, so that the object to be welded is effectively prevented from being excessively welded or damaged, the welding has higher consistency, and the automatic welding robot 10 provided by the embodiment can realize high-efficiency and accurate welding and effectively improve the welding quality.
Referring to fig. 1 and 5, in some embodiments, the robot body 11 further includes a proximity sensor 112 (english: proximity sensor), where the proximity sensor 112 is configured to sense whether a surrounding person or object approaches the robot 10, and to feed back a sensed signal to the control system 111, so as to control whether the robot arm 12 continues to perform an action by the control system 111. By arranging the proximity sensor 112, when people or objects are close to the automatic welding robot 10 around the automatic welding robot 10 in a working state, the proximity sensor 112 can sense the approaching people or objects and feed back a signal of the approaching people or objects to the control system 111, and the control system 111 controls the automatic welding robot 10 to stop working so as to avoid collision with the approaching people or objects, thereby effectively improving the safety of the automatic welding robot 10 and preventing accidents.
Referring to fig. 1 and 5, in some embodiments, the robot body 11 further includes a photoelectric sensor 113 (full english: photoelectric sensor/micro sensor), where the photoelectric sensor 113 is used to sense whether the object to be welded enters a welding position or whether other objects affect welding, and feedback the sensed signal to the control system 111. By arranging the photoelectric sensor 113, when the automatic welding robot 10 works, the photoelectric sensor 113 continuously emits light beams to the front of the operation work of the mechanical arm 12, when an object to be welded or other objects pass through the light beam position of the photoelectric sensor 113 on a production line, the light beams emitted by the photoelectric sensor 113 are shielded, so that the measured change on the production line is converted into the change of an optical signal, the optical signal is converted into an electric signal and transmitted to the automatic welding robot 10 and the production line, the production line pauses after receiving the signal, the object to be welded stops to a designated position, and the control system 111 controls the mechanical arm 12 to start working after receiving the signal. After the automatic welding robot 10 finishes the welding work of the object to be welded, the control system 111 sends a start signal to the assembly line, so that the assembly line continues to work, the object to be welded is conveyed to the next process, and the other object to be welded is conveyed to the position irradiated by the light beam of the photoelectric sensor 113 and is perceived, and the automatic welding robot 10 repeats the welding steps. If other objects are sensed by the photoelectric sensor 113, the photoelectric sensor 113 feeds back a signal to the control system 111, the control system 111 sends a signal to the assembly line to control the assembly line to stop conveying the objects to be welded, and meanwhile, the control system 111 controls the mechanical arm 12 to stop working so as to avoid the interference of the other objects on welding. In some embodiments, the photoelectric sensor 113 sends the sensed signal only to the control system 111 of the robot body 11, and then the control system 111 sends related control instructions to the pipeline and the mechanical arm 12. While in some embodiments, photosensor 113 sends the sensed signal to both control system 111 and the controller of the pipeline. In some embodiments, the object to be soldered related to this embodiment may be a printed circuit board assembly (english full name: printed Circuit Board Assembly; english abbreviation: PCBA), that is, a printed circuit board (english full name: printed Circuit Board; english abbreviation: PCB), the automatic soldering robot 10 performs soldering on the card element on the printed circuit board, thereby soldering the pins of the card element with the printed circuit board, and finally fixing the card element on the printed circuit board. In some embodiments, the printed circuit board assembly may further include at least one of a surface mount (english: surface Mounted Technology; english: SMT) component, a press component, and an assembly. Of course, the object to be welded may be other objects. In some embodiments, the robot body 11 includes both the proximity sensor 112 and the photoelectric sensor 113 to effectively improve the reliability of the operation of the automatic welding robot 10.
Referring to fig. 1, in some embodiments, a robot body 11 includes a base (not shown) with wheels to facilitate movement of an automated welding robot 10. In some embodiments, the base is selected from AGV (English full name: automated Guided Vehicle). In some embodiments, the robot body 11 includes a host computer through which manipulation instructions can be input to the robot 10 so that the robot 10 can operate. In some embodiments, a receiving chamber (not shown) is provided in the robot body 11, and a power source, which may be a rechargeable battery module or the like, is disposed in the receiving chamber to supply power to the robot 10. Of course, the robot body 11 may not be provided with a power supply, and may be directly connected to an external power supply and supplied with power from the external power supply. In some embodiments, the robot body 11 is provided with a scram controller (not shown), an alarm controller (not shown), and the like.
Referring to fig. 1 and 5, in some embodiments, the robot arm 12 includes an anti-collision sensor 122 and a plurality of arm shafts 121, where the anti-collision sensor 122 is disposed on the arm shafts 121 for sensing a collision received by the arm shafts 121 and feeding back to the control system 111, so that the control system 111 controls whether the robot arm 12 continues to perform the operation. The arm shafts 121 are sequentially connected, and two adjacent arm shafts 121 can relatively move, so that the degree of freedom is high, and each arm shaft 121 is correspondingly provided with at least one anti-collision sensor 122. In some embodiments, the robotic arm 12 has six arm shafts 121 or eight arm shafts 121. Of course, other numbers of arm shafts 121 are also possible, and specifically, the number of arm shafts 121 may be increased or decreased according to the welding requirements.
Referring to fig. 2,3, 4 and 5, in some embodiments, the welding device 13 further includes a base 134, where the base 134 is detachably connected to the mechanical arm 12; the image acquisition module 131 and the buffer module 132 are respectively movably mounted on the base 134, and the base 134 is driven to carry the image acquisition module 131 and the buffer module 132 to move when the mechanical arm 12 executes actions, and the buffer module 132 drives the welding module 133 to move, so that the reliability and stability of the movement of the image acquisition module 131 can be effectively improved, and the reliability of the installation of the buffer module 132 and the welding module 133 can be effectively ensured through the base 134.
Referring to fig. 2,3, 4 and 5, in some embodiments, the base 134 includes a connecting member 1341, a first mounting member 1342 and a second mounting member 1343, the connecting member 1341 is detachably connected to the mechanical arm 12, the first mounting member 1342 and the second mounting member 1343 are respectively connected to the connecting member 1341, the image capturing module 131 is mounted on the first mounting member 1342, and the buffer module 132 is connected to the second mounting member 1343. In some embodiments, the base 134 further includes a third mounting member 1345, the third mounting member 1345 is connected to an end of the connecting member 1341 away from the mechanical arm 12, the first mounting member 1342 and the second mounting member 1343 are respectively connected to the connecting member 1341 through the third mounting member 1345, and the first mounting member 1342 and the third mounting member 1345 are respectively disposed at opposite ends of the third mounting member 1345, which can effectively avoid interference between the image capturing module 131 and the buffer module 132, and can effectively avoid mutual interference between the image capturing module 131 and the welding module 133, so that the spatial positions of the respective modules in the welding device 13 of the automatic welding robot 10 become reasonable, compact and have higher reliability. In some embodiments, the second mounting piece 1343 includes an arc-shaped plate 13431 and a mounting plate 13432, the arc-shaped plate 13431 is connected with the third mounting piece 1345, the mounting plate 13432 is movably mounted on the arc-shaped plate 13431, the mounting plate 13432 can move along the arc-shaped extending track of the arc-shaped plate 13431, the buffer module 132 is connected with the mounting plate 13432, and the mounting plate can move along the arc-shaped extending track of the arc-shaped plate 13431, so that the relative positions of the mounting plate 13432 and the arc-shaped plate 13431 can be adjusted to make the welding module 133 weld at different angles. In some embodiments, the mounting plate body 13432 includes a first mounting portion (not shown) movably coupled to the arcuate plate body 13431 and a second mounting portion (not shown) coupled to the first mounting portion and the buffer module 132 coupled to the second mounting portion. In some embodiments, the first and second mounting portions are integrally formed structures, and in some alternative, the first and second mounting portions may be separately provided structures, i.e., both may be assembled and disassembled. In some embodiments, the base 134 further includes a driving member (not shown) for driving the mounting plate 13432 to move on the arc-shaped plate 13431 along the arc-shaped extending track of the arc-shaped plate 13431, so as to automatically adjust the welding angle of the welding module 133. In some embodiments, the drive member is controlled by the control system 111 to drive the mounting plate body 13432 on the arcuate plate body 13431 along an arcuate extension trajectory of the arcuate plate body 13431.
Referring to fig. 2,3, 4 and 5, in some embodiments, the base 134 further includes a slide rail 1344, the slide rail 1344 is fixed to the second mounting piece 1343, the buffer module 132 is mounted on the slide rail 1344 and can reciprocate along an extending track of the slide rail 1344, that is, the buffer module 132 can be movably mounted on the slide rail 1344, and is indirectly connected to the second mounting piece 1343 through the slide rail 1344, and finally indirectly connected to the second mounting piece 1343. In some embodiments, one end of the slide rail 1344 is fixed to the second mounting portion and extends in a direction parallel to the first mounting portion in a direction away from the first mounting portion.
Referring to fig. 2,3, 4 and 5, in some embodiments, the image acquisition module 131 includes a vision sensor 1311, the vision sensor 1311 identifies and acquires a position identification point of the object to be welded, and after the vision sensor 1311 identifies and acquires the position identification point of the object to be welded, calibration calculation is performed on acquired information and the coordinate of the object to be welded is fed back to the control system 111. In some embodiments, the image acquisition module 131 further includes a light source 1312, where the light source 1312 supplements light during the graphic acquisition by the vision sensor 1311, so as to facilitate the quick identification of the position identification point of the object to be welded by the vision sensor 1311, and improve the efficiency of identification and acquisition. In some embodiments, the light source 1312 is disposed at a front end of the vision sensor 1311 (i.e., an end of the vision sensor 1311 that captures an image, i.e., an end of light entering the vision sensor 1311), so as to effectively assist the vision sensor 1311 in identifying and collecting a position identification point of the object to be welded. In some embodiments, the light source 1312 is annular and is disposed around the front end of the vision sensor 1311 to provide a better light supplementing effect for the vision sensor 1311.
Referring to fig. 2,3, 4, and 5, in some embodiments, cushioning module 132 includes a retaining plate 1321 and a resilient member 1322. Wherein, fixed plate 1321 is mounted on slide rail 1344 and can reciprocate on slide rail 1344 along slide rail 1344, and elastic element 1322 is connected between fixed plate 1321 and base 134 to provide resetting power for the reciprocating movement of fixed plate 1321 on slide rail 1344. The welding module 133 is connected with the fixed plate 1321, and the elastic component 1322 is installed between the fixed plate 1321 and the second installation department, when the welding end of welding module 133 and the thing that waits to weld take place extrusion collision, the fixed plate 1321 carries the welding module 133 along slide rail 1344 to the second installation department remove, elastic compression deformation takes place for the elastic component 1322, thereby can avoid the welding module 133 to take place excessive extrusion or excessive welding with the thing that waits to weld, when the welding module 133 takes place the separation with the thing that waits to weld, the elastic component 1322 resumes natural state, the fixed plate 1321 carries the welding module 133 along slide rail 1344 to the direction of keeping away from the second installation department removes, the welding module 133 can continue to wait to weld the thing that waits to weld, thereby can improve welded uniformity, improve welding quality. In the present embodiment, the elastic member 1322 may be a spring or other parts that are easily elastically deformed.
Referring to fig. 2, 3, 4 and 5, in some embodiments, the soldering module 133 includes a heating element 1331 and a solder conveying element 1332, where the heating element 1331 and the solder conveying element 1332 are respectively connected to the buffer module 132, and the heating element 1331 is used to heat the solder conveying element 1332, so that the solder conveyed in the solder conveying element 1332 is heated to a state capable of being soldered. In some embodiments, when the elastic member 1322 is a spring, the heating member 1331 is disposed through the fixing plate 1321, and one end extends to the discharging end of the solder conveying member 1332 and the other end extends through the spring. In some embodiments, the second mounting portion is provided with a avoidance hole, and the heating element 1331 further passes through the avoidance hole, so that on one hand, avoidance can be provided for the heating element 1331 to reciprocate with the buffer module 132, and on the other hand, the reliability of connection between the buffer module 132 and the welding module 133 and the reliability of reciprocation can be improved. In some embodiments, the heating element 1331 is an electric soldering iron and the solder is a tin wire and the solder delivery element 1332 is a tin wire delivery tube.
In some embodiments, the automated welding robot 10 further includes a cleaner (not shown) to clean residues generated during welding of the welding module 133. In some embodiments, the cleaning machine is mounted on the robot body 11 to reduce the distance that the robot 10 needs to travel to clean the welding module 133, and also to save energy consumption of the robot 10. In some embodiments, the automatic welding robot 10 further includes a welding fume recycling device (not shown in the drawings) for recycling fume generated during welding process, so as to avoid environmental pollution caused by fume diffusion. In some embodiments, the welding fume recovery device is detachably mounted on the mechanical arm 12, so that fume generated in the welding process can be rapidly collected, and fume diffusion is avoided.
Referring to fig. 6 and fig. 1 to 5, based on the above-mentioned automatic welding robot 10, the embodiment of the invention further provides a welding method of the automatic welding robot 10.
The welding method of the automatic welding robot 10 according to the present invention is based on the automatic welding robot 10, and specifically includes the steps of:
s01, a work instruction is input to the automatic welding robot 10.
In step S01, a work instruction may be input to the automatic welding robot 10 by a host computer on the robot body 11. Such as by writing scripts, programs, and transmitting to the image acquisition module 131 and the welding module 133 simultaneously. In some embodiments, step S01 may be omitted, and the automatic welding robot 10 is preset with a working instruction, and when the automatic welding robot 10 is started, the working instruction may be automatically called out and worked automatically, without inputting the working instruction.
S02, the control system 111 controls the mechanical arm 12 to carry the welding device 13 to approach the object to be welded.
In some embodiments of step S02, the object to be soldered may be a printed circuit board assembly, i.e., a printed circuit board on which a card element is attached, the card element including various electronic components, etc., and the card element is pre-mounted on the printed circuit board, and the printed circuit board assembly is transported by the pipeline to a position that can be sensed by the automated soldering robot 10. Because the electronic components are commonly used components in the printed circuit board assembly, they are commonly used in the art, and therefore, the description thereof is omitted herein.
S03, the control system 111 receives coordinates of the to-be-welded point.
In step S03, the image acquisition module 131 identifies, acquires and calculates the position identification point (Mark point) of the object to be welded to confirm the coordinates of the object to be welded, and feeds back the calculated coordinates of the object to be welded to the control system 111. In some embodiments, after the photosensor 113 senses the printed circuit board assembly on the pipeline, the photosensor 113 sends a signal to the control system 111, the control system 111 controls the pipeline to halt delivery, and the control system 111 controls the robotic arm 12 to move near the printed circuit board assembly. Or the photoelectric sensor 113 simultaneously sends a signal to the controller of the control system 111 and the pipeline to cause the automatic welding robot 10 and the pipeline to simultaneously perform the corresponding actions. The image acquisition module 131 recognizes Mark points on the printed circuit board by learning the image (TRAIN PATTERNS) and looking up the image (FIND PATTERNS). The image acquisition module 131 transfers the recognized and acquired Mark points to the control system 111. Specifically, after the image acquisition module 131 identifies the position identification point, calibration calculation compensation is performed, the calculation result is sent to the control system 111 through TCP communication, and after the control system 111 receives the calculation result, the coordinate of the to-be-welded point can be obtained.
S04, according to the coordinates of the to-be-welded point, the control system 111 controls the mechanical arm 12 to transfer the welding module 133 to the coordinates of the to-be-welded point, controls the welding module 133 to heat the welding flux placed on the welding module 133, controls the welding module 133 to weld the to-be-welded point, and when the welding module 133 contacts with the to-be-welded point, the buffer module 132 deforms to buffer the between the welding module 133 and the to-be-welded object, and when the welding module 133 finishes welding, the buffer module 132 recovers from the deformed state.
In step S04, the control system 111 transmits a control signal through the I/O port to control the mechanical arm 12 to move to the coordinate position of the to-be-soldered point carrying the soldering module 133, and in the moving process, the soldering module 133 is controlled to heat the solder in the soldering module 133, so that the waiting time for heating the solder can be saved, and the to-be-soldered point is soldered immediately. In the welding process, when the welding module 133 touches the to-be-welded point, the welding module 133 welds the to-be-welded point, and the welding module 133 receives extrusion force, the elastic piece 1322 of the buffer module 132 elastically compresses and deforms, so that the welding module 133 is ejected to the to-be-welded point or the welding module 133 contracts towards a direction far away from the to-be-welded point, excessive welding can be effectively avoided, after the welding module 133 is ejected to the to-be-welded point, the mechanical arm 12 carries the welding module 133 to be transferred to the next to-be-welded point so as to weld the next to-be-welded point, and in the transferring process, the elastic piece 1322 of the buffer module 132 restores to a natural state, and the welding module 133 reaches an initial position so as to weld the next to-be-welded point.
If a plurality of objects to be welded on the assembly line are to be continuously welded, the steps S02 to S04 may be repeated. In some embodiments, the process line is further provided with a cleaner for cleaning the welding module 133 to avoid degradation of the welding quality of the welding module 133, a welding fume recovery device, etc. In some embodiments, after 10 to 20 objects to be welded are controlled to be welded, the automatic welding robot 10 stops welding and transfers to a cleaner position to clean the welding ends of the welding module 133. In some embodiments, the welding fume recovery device is detachably connected with the welding device 13, so as to realize rapid recovery of fume generated by welding of the welding device 13. In the present welding method, when the automatic welding robot 10 executes the instruction, it can learn the Mark point and the to-be-welded point, through the learned image, the next to-be-welded object conveyed from the assembly line in the same batch or the same type, the automatic welding robot 10 compares the image with the previously learned image through photographing, determines the to-be-welded point to be welded by means of Artificial Intelligence (AI), and sends the compensation parameters (the to-be-welded point position has deviation because each to-be-welded object is different on the assembly line) after the learning comparison to the control system 111, and the automatic welding robot 10 operates to the corresponding to-be-welded point to perform welding according to the received compensation parameter data. In some embodiments, the cleaning machine is mounted on the robot body 11 to reduce the distance that the robot 10 needs to travel to clean the welding module 133, and also to save energy consumption of the robot 10. In some embodiments, the welding fume recovery device is detachably mounted on the mechanical arm 12, so that fume generated in the welding process can be rapidly collected, and fume diffusion is avoided.
According to the welding method of the automatic welding robot 10, when the printed circuit board assembly is welded, the automatic welding robot 10 is adopted to replace manual work to weld the plug-in components on the printed circuit board, so that on one hand, manpower and material resources can be effectively saved, on the other hand, the welding precision and the welding consistency can be improved, the welding quality and the welding efficiency can be improved, and the welding of the parts with larger difficulty can be completed. The welding method of the automatic welding robot provided by the embodiment is used for welding the printed circuit board assembly, and the yield is as high as more than 99.999%.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (15)
1. An automatic welding robot, comprising:
a robot body including a control system;
The mechanical arm is connected with the robot main body, and the control system controls the mechanical arm to execute actions;
The welding device is detachably arranged at the end part of the mechanical arm, which is far away from the robot main body, and the control system controls the welding action; the welding device comprises an image acquisition module, a buffer module and a welding module, wherein the welding module is connected with the buffer module so as to enable rebound buffering to occur with a to-be-welded object when the welding module is welded.
2. The automated welding robot of claim 1, wherein the welding device further comprises a base detachably connected to the robotic arm;
The image acquisition module and the buffer module are respectively movably installed on the base.
3. The automated welding robot of claim 2, wherein the base comprises a connector, a first mount, and a second mount, the connector is detachably connected to the robotic arm, the first mount and the second mount are respectively connected to the connector, the image acquisition module is mounted to the first mount, and the buffer module is connected to the second mount.
4. The automated welding robot of claim 3, wherein the base further comprises a slide rail secured to the second mount, the buffer module being movably mounted to the slide rail for indirect connection with the second mount.
5. The automated welding robot of claim 4, wherein the second mounting member comprises an arcuate plate body and a mounting plate body, the arcuate plate body being coupled to the connecting member, the mounting plate body being movable relative to the arcuate plate body along an arcuate extension trajectory of the arcuate plate body; the sliding rail is installed on the installation plate body.
6. The automated welding robot of claim 1, wherein the image acquisition module comprises a vision sensor that identifies and acquires a location identification point of the object to be welded.
7. The automated welding robot of claim 6, wherein the image acquisition module further comprises a light source that supplements light while the vision sensor is performing the pattern acquisition.
8. The automated bonding robot of claim 2, wherein the bonding module comprises a heating element and a solder delivery element, the heating element and the solder delivery element being respectively coupled to the buffer module.
9. The automated welding robot of claim 4, wherein the buffer module comprises a fixed plate and an elastic member, the welding module is connected to the fixed plate, the fixed plate is mounted to the slide rail and is capable of reciprocating on the slide rail, and the elastic member is connected between the fixed plate and the second mounting member to power the reset of the fixed plate in the reciprocating motion.
10. The automatic welding robot according to any one of claims 1 to 9, wherein the robot arm includes an anti-collision sensor and a plurality of arm shafts, the plurality of arm shafts are sequentially connected and are relatively movable between two adjacent arm shafts, each arm shaft is correspondingly provided with at least one anti-collision sensor, and the anti-collision sensor senses the collision suffered by the arm shaft and feeds back to the control system, so that the control system can control whether the robot arm continues to execute the action.
11. The robot of any one of claims 1 to 9, wherein the robot body further comprises a proximity sensor for sensing whether a surrounding person or object is approaching the robot and feeding back the sensed signal to the control system to control whether the robot arm continues to perform an action.
12. The automatic welding robot of any one of claims 1 to 9, wherein the robot body further comprises a photoelectric sensor for sensing whether an object to be welded enters a welding position or whether other objects affect welding, and feeding back the sensed signal to the control system.
13. The welding method of the automatic welding robot is characterized by comprising the following steps of:
Delivering the object to be welded to a position where the automatic welding robot of any one of claims 1 to 12 is weldable;
the control system controls the mechanical arm to carry the welding device to approach the object to be welded;
the control system receives coordinates of a to-be-welded point, wherein the coordinates of the to-be-welded point are identified, collected and calibrated by the image collecting module to the position identification point of the to-be-welded object so as to confirm the coordinates of the to-be-welded point of the to-be-welded object;
The control system controls the mechanical arm to carry the welding module to transfer to the coordinate of the to-be-welded point and controls the welding module to heat the welding flux arranged on the welding module, and controls the welding module to weld the to-be-welded point, when the welding module contacts with the to-be-welded point, the buffer module deforms to buffer the to-be-welded object, and when the welding module completes welding, the buffer module recovers from a deformed state.
14. The method of soldering an automated soldering robot according to claim 13, wherein the object to be soldered comprises a printed circuit board assembly and the object to be soldered comprises pins of an interposer element.
15. A storage medium having stored therein computer executable instructions configured to perform the steps in the welding method of the automated welding robot of any of claims 13 to 14.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211521385.7A CN118143526A (en) | 2022-11-30 | 2022-11-30 | Automatic welding robot, welding method thereof and storage medium |
| PCT/CN2023/104166 WO2024113842A1 (en) | 2022-11-30 | 2023-06-29 | Automatic soldering robot and soldering method thereof, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211521385.7A CN118143526A (en) | 2022-11-30 | 2022-11-30 | Automatic welding robot, welding method thereof and storage medium |
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| CN118143526A true CN118143526A (en) | 2024-06-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211521385.7A Pending CN118143526A (en) | 2022-11-30 | 2022-11-30 | Automatic welding robot, welding method thereof and storage medium |
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| Country | Link |
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| CN (1) | CN118143526A (en) |
| WO (1) | WO2024113842A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4969108A (en) * | 1988-04-08 | 1990-11-06 | Cincinnati Milacron Inc. | Vision seam tracking method and apparatus for a manipulator |
| JP4647914B2 (en) * | 2004-01-07 | 2011-03-09 | 川崎重工業株式会社 | Arc welding method and arc welding apparatus |
| CN105563118A (en) * | 2016-03-15 | 2016-05-11 | 温州智元知识产权管理有限公司 | Collector piece full-automatic welding machine for cylindrical lithium battery and with reliable material positioning function |
| CN107030700A (en) * | 2017-05-22 | 2017-08-11 | 广西科技大学 | A kind of six axle welding industry robot anticollision control systems |
| CN107350670B (en) * | 2017-08-09 | 2019-02-12 | 苏州阿甘机器人有限公司 | A kind of robot automatic preheating and welder |
| CN108544153A (en) * | 2018-04-23 | 2018-09-18 | 哈尔滨阿尔特机器人技术有限公司 | A kind of vision robot's system for Tube-sheet Welding |
| CN209867621U (en) * | 2019-05-07 | 2019-12-31 | 苏州艾尔顿自动化科技有限公司 | Double-end automatic soldering tin machine adjustment mechanism |
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2022
- 2022-11-30 CN CN202211521385.7A patent/CN118143526A/en active Pending
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- 2023-06-29 WO PCT/CN2023/104166 patent/WO2024113842A1/en unknown
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