WO2020077601A1 - Soldering device - Google Patents

Soldering device Download PDF

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Publication number
WO2020077601A1
WO2020077601A1 PCT/CN2018/110898 CN2018110898W WO2020077601A1 WO 2020077601 A1 WO2020077601 A1 WO 2020077601A1 CN 2018110898 W CN2018110898 W CN 2018110898W WO 2020077601 A1 WO2020077601 A1 WO 2020077601A1
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WO
WIPO (PCT)
Prior art keywords
welding
slave
robot
end effector
host
Prior art date
Application number
PCT/CN2018/110898
Other languages
French (fr)
Chinese (zh)
Inventor
杨文�
Original Assignee
深圳配天智能技术研究院有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳配天智能技术研究院有限公司 filed Critical 深圳配天智能技术研究院有限公司
Priority to PCT/CN2018/110898 priority Critical patent/WO2020077601A1/en
Priority to CN201880087113.6A priority patent/CN111712346A/en
Publication of WO2020077601A1 publication Critical patent/WO2020077601A1/en

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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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls

Definitions

  • This application relates to the field of welding technology, in particular to a welding device.
  • the size of the inductor coil used by the filter manufacturer is small, and the installation and welding of the inductor coil are mostly manual welding.
  • the clamp is used to perform rough rough positioning of the inductor coil, and the inductor coil is placed at the position to be welded, and then the person Eye recognition, welding according to the specific position of the inductance coil, there are many kinds of fixtures, and the working efficiency is not high.
  • the technical problem mainly solved by the present application is to provide a welding equipment.
  • the welding equipment of the present application can improve the welding accuracy and working efficiency.
  • the technical solution adopted by the present application is to provide a welding device including a welding station; a host grasping robot, a host end effector connected to one end of the host grasping robot, and the host end effector used for grasping Take the inductance coil, the host grasps the robot to drive the end effector of the host to transport the inductance coil to the welding station; the slave welding robot, one end of the slave welding robot is connected with the slave end effector, and the slave end effector is used to perform the induction coil Welding, the slave welding robot drives the end effector movement of the slave; the controller, the controller is coupled with the master grasping robot and the slave welding robot.
  • the welding equipment of the present application adopts a two-machine cooperation mode of the master grab robot and the slave welding robot, and is grabbed by the master end effector on the master grab robot
  • the inductor coil and the inductor coil are transported to the welding station, and the inductor coil is welded by the slave end effector on the slave welding robot, which can realize automatic welding of the inductor coil, thereby improving welding accuracy and working efficiency.
  • FIG. 1 is a schematic structural view of an embodiment of a welding device provided by this application.
  • FIG. 2 is a schematic diagram of a front view of another embodiment of the welding equipment provided by the present application.
  • FIG. 3 is a schematic plan view of the welding device in FIG. 2;
  • FIG. 4 is a schematic view of the left side of the welding equipment in FIG. 2;
  • FIG. 5 is a schematic front view of an embodiment of the end effector of the host in FIG. 2;
  • FIG. 6 is a schematic top view of an embodiment of the host end effector of FIG. 2;
  • FIG. 7 is a schematic front view of an embodiment of the slave end effector of FIG. 2;
  • FIG. 8 is a schematic plan view of an embodiment of the slave end effector in FIG. 2.
  • the fixture When manually welding the inductance coil to the filter to be welded, generally, the fixture is used to roughly position the inductance coil, the inductance coil is placed at the position to be welded, and then the welding is performed.
  • fixtures There are many kinds of fixtures used in manual welding, and the work efficiency is not high.
  • the present application adopts a two-machine collaboration mode of a master grasping robot and a slave welding robot.
  • FIG. 1 is a schematic structural diagram of an embodiment of a welding device provided by the present application.
  • the welding equipment includes a welding station 10, a master grasping robot 20, a slave welding robot 30, a controller 60 coupled with the master grasping robot 20 and a slave welding robot 30.
  • one end of the host grasping robot 20 is connected to the host end effector 40, the host end effector 40 is used to grab the inductor coil, the host grasping robot 20 drives the host end effector 40 to transport the inductor coil to the welding station 10;
  • the one end of the machine welding robot 30 is connected with the slave end effector 50.
  • the slave end effector 50 is used to weld the inductance coil.
  • the slave welding robot 30 drives the slave end effector 50 to move; the controller 60 is used to control the host The gripping robot 20 and the slave welding robot 30.
  • the welding equipment of the present application can improve welding efficiency and accuracy. Hereinafter, the details will be described with reference to FIGS. 2 to 8.
  • FIG. 2 is a schematic front view of another embodiment of the welding equipment provided by the present application.
  • FIG. 3 is a schematic plan view of the welding device in FIG. 2.
  • 4 is a schematic view of the left side structure of the welding device in FIG. 2.
  • the welding equipment includes a welding station 11, a master grasping robot 12, a slave welding robot 13, and a controller (not shown in FIG. 2).
  • the controller is coupled with the master grasping robot 12 and the slave welding robot 13.
  • the welding device in this embodiment is mainly used for welding the inductance coil to the position to be welded on the filter, and in other embodiments can also be used for welding other components, which is not specifically limited herein.
  • the welding station 11 is a flow positioning device, which is mainly used to fix a filter.
  • An end effector 13 of the host is connected to one end of the host grasping robot 12.
  • the end effector 13 of the host is used to grasp the inductor coil.
  • the host grasping robot 12 drives the end effector 13 of the host to accurately transport the inductor coil under the control of the controller.
  • the slave welding robot 14 is connected to the slave end effector 15 at one end.
  • the slave welding robot 14 drives the slave end effector 15 to move accurately to the position to be welded under the control of the controller, and then the slave end effector 15 Weld the inductor coil at the position to be welded.
  • the host grasping robot 12 and the slave welding robot 14 are used in a cooperative manner.
  • the host grasping robot 12 grips the inductor coil and transports the inductor coil to the position to be welded, and then passes through the slave
  • the welding robot 14 welds the inductance coil to the position to be welded on the filter, realizes automatic welding of the inductance coil, and improves work efficiency and welding accuracy.
  • FIG. 5 is a schematic front view of an embodiment of the host end effector in FIG. 2.
  • 6 is a schematic top view of an embodiment of the end effector of the host in FIG. 2.
  • the host end effector 13 includes a gripping device 131 and a visual device 132 that are spaced apart by a predetermined distance. By setting a predetermined distance between the gripping device 131 and the visual device 132, the gripping device 131 and the visual device 132 work in their respective Will not interfere with each other.
  • Both the gripping device 131 and the visual device 132 are fixed on the first integrated adapter plate 133, and the first integrated adapter plate 133 is fixed on the main body grab robot through the first adapter sleeve 134.
  • the clamping device 131 is used to clamp the inductor coil
  • the visual device 132 is used to locate the position to be welded.
  • the gripping device 131 includes a gripper 135, a gripper drive 136, and a gripper adapter plate 137.
  • the clamping jaw 135 is used to clamp the inductance coil
  • the clamping jaw drive 136 is connected to the clamping jaw 135, and is used to drive the clamping jaw 135 to open or close.
  • the first integrated adapter board 133 is connected.
  • the gripping device 131 grips the inductor coil under the control of the controller, and transports the inductor coil to the position to be welded.
  • the jaw drive 136 is a pneumatic jaw or an electric jaw or other power source capable of providing linear reciprocating motion, which is not specifically limited herein.
  • the vision device 132 includes an industrial camera 138 and a telecentric lens 139.
  • the industrial camera 138 is fixed to the mainframe grabbing robot through the camera fixing plate 1313 fixed on the first integrated adapter plate 133.
  • the industrial camera 138 is mainly used to locate the position to be welded on the welding table under the control of the controller.
  • the telecentric lens 139 is threadedly connected to the industrial camera 138.
  • the telecentric lens 139 is mainly used to correct the parallax of the industrial camera 138, so that the industrial camera 138 can more accurately position the welding position, that is, obtain a more accurate position to be welded.
  • the vision device 132 further includes a light source 1310 disposed opposite to the telecentric lens 139, and the welding table is located within the irradiation range of the light source 1310. Illuminate the position of the feature that needs to be visually recognized by the light source 1310, so that the industrial camera 138 can obtain the optical signal, convert the acquired optical signal into an electrical signal, and then transmit the electrical signal to the sensor. The sensor processes the electrical signal to obtain the feature The image at the location to achieve positioning.
  • the light source 1310 is a ring light source, and the light source 1310 may also be other types of light sources in other specific embodiments.
  • the visual device 132 further includes a light source adjustment plate 1311.
  • One end of the light source adjustment plate 1311 is connected to the first integrated adapter plate 133 through a waist hole 1312, and the other end is connected to the light source 1310.
  • the light source adjustment plate 1311 is used for adjustment The distance between the light source 1310 and the telecentric lens 139, so that the light source 1310 reciprocates relative to the telecentric lens 139.
  • the waist hole 1312 on the light source adjustment plate 1311 is adjusted to adjust the distance between the light source 1310 and the telecentric lens 139 to an appropriate distance, thereby facilitating more accurate positioning during the welding process.
  • the visual device 132 further includes a light source reinforcing plate 1314, a light source fixing plate 1315, and a light source adapter plate 1316 connected to the light source adjusting plate 1311 and the light source 1310, for fixing the light source 1310 on the light source adjusting plate 1311.
  • FIG. 7 is a schematic front view of an embodiment of the slave end effector in FIG. 2.
  • 8 is a schematic plan view of an embodiment of the slave end effector in FIG. 2.
  • One end of the slave end effector 15 is provided with a soldering iron head 151, and the soldering iron head 151 is used for soldering an inductance coil. Slag, the nozzle 152 is used to blow away the welding slag.
  • the slave end effector 15 further includes a second integrated adapter plate 154, a heating core mounting frame 155, and a heating core assembly 156.
  • the second integrated adapter plate 154 is fixed to the slave welding robot 14 through a second adapter sleeve 157
  • One end of the heating core mounting frame 155 is connected to the second integrated adapter plate 154, and the other end is connected to the heating core assembly 156.
  • the heating core assembly 156 is connected to the soldering iron head 151 for heating the soldering iron head 151.
  • the slave end effector 15 further includes a connecting plate 158 and a liquid valve 159.
  • the connecting plate 158 is fixedly connected to the second integrated adapter plate 154, and the nozzle 152 and the rotating brush 153 are respectively disposed on both sides of the connecting plate 158.
  • the liquid valve 159 is connected to the second integrated adapter plate 154, and an infusion tube (not shown in the figure) is provided between the liquid valve 159 and the rotary brush 153.
  • the liquid valve 159 is opened, the cleaning liquid is transferred to the rotation through the infusion tube The brush 153, so that the rotating brush 153 containing the cleaning liquid can better clean the welding slag such as rosin at the solder joints.
  • a high-speed air flow is sprayed through the nozzle 152 to blow away the welding slag.
  • the welding equipment further includes a frame 16, and the welding table 11, the master gripping robot 12 and the slave welding robot 14 are disposed on the frame 16.
  • a washing liquid storage bottle 17 is installed on the rack 16.
  • the washing liquid storage bottle 17 is connected to the liquid valve 159 and the rotating brush 153 through an infusion tube. When the liquid valve 159 is opened, the washing liquid in the washing liquid storage bottle 17 is under gravity Under the action of the infusion tube to the rotating brush 153.
  • the high-speed air flow emitted by the nozzle 152 is air or nitrogen or other gases, which is not specifically limited herein.
  • the slave end effector 15 further includes a wire outlet assembly 1510 connected to the soldering iron head 151 for guiding the tin wire to the soldering iron head 151.
  • a wire outlet assembly 1510 connected to the soldering iron head 151 for guiding the tin wire to the soldering iron head 151.
  • the welding equipment further includes a tin breaking machine 18, the tin breaking machine 18 is disposed on the slave welding robot 14, the tin breaking machine 18 is used to break the tin wire, The broken tin wire is transported to the wire outlet assembly 1510, and then the wire outlet assembly 1510 guides the tin wire to the soldering iron head 151.
  • the tin-breaker 18 uses a knife-shaped gear to press out small holes in the tin wire to improve the soldering environment, so that the flux in the tin wire vaporizes when the soldering iron tip 151 is heated, and overflows from the hole, enhancing the solderability of the solder and Mobility, thereby preventing tin explosion during welding.
  • a soldering iron cleaning device 19 is further provided between the soldering station 11 and the slave welding robot 14 for cleaning the soldering iron head 151 after soldering.
  • the soldering iron cleaning device 19 can eject a high-speed airflow.
  • the temperature of the soldering iron head 151 is relatively high, and liquid tin adheres to the soldering iron head 151.
  • the liquid tin can be removed from the soldering iron head 151 by the high-speed airflow By blowing away, the soldering iron head 151 is cleaned.
  • the soldering iron head 151 may also be cleaned in other ways, which is not limited herein.
  • the welding equipment further includes a wire outlet controller 110 and a temperature controller 111 provided on the frame 16, the wire outlet controller 110 is coupled to the wire outlet assembly 1510 for The speed of the wire feeding assembly 1510 to deliver the tin wire to the soldering iron head 151 is controlled; the temperature controller 111 is coupled to the heating core assembly 156 to control the temperature at which the heating core assembly 156 heats the soldering iron head 151.
  • an inductance tray 112 is provided on the frame 16, and the inductance tray 112 is used to place an inductance coil to be welded.
  • the master grasping robot 12 clamps the inductor coil to be welded from the inductor tray 112 through the clamping device 131 under the control of the controller, and at the same time, the vision device 132 on the slave welding robot 14 is to be welded
  • the position is accurately positioned, and the positioning information is transmitted to the controller.
  • the controller controls the master grasping robot 12 to accurately transport the clamped inductor coil to the welding position on the welding table 11, and controls the slave welding robot 14
  • the inductance coil is soldered at the position to be soldered on the filter through the soldering iron head 151.
  • the master grasping robot 12 and the slave welding robot 14 share a visual device 132, thereby simplifying the device structure.
  • the master grasping robot and the slave welding robot respectively use one vision device, that is, the welding equipment uses a total of two vision devices, which is not limited herein.
  • the master grasping robot 12 and the slave welding robot 14 share a controller.
  • the master grasping robot and the slave welding robot can each be provided with a controller, that is, the welding equipment is used in common.
  • the welding equipment of the present application adopts a two-machine cooperation mode of the master grab robot and the slave welding robot, and is grabbed by the master end effector on the master grab robot
  • the inductor coil and the inductor coil are transported to the welding station, and the inductor coil is welded by the slave end effector on the slave welding robot, which can realize automatic welding of the inductor coil, thereby improving welding accuracy and working efficiency.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Manipulator (AREA)

Abstract

A soldering device, comprising: a soldering station (10); a master grabbing robot (20) with one end connected to a master end effector (40), the master end effector (40) being used to grab an inductance coil, and the master grabbing robot (20) driving the master end effector (40) to convey the inductance coil to the soldering station (10); a slave soldering robot (30) with one end connected to a slave end effector (50), the slave end effector (50) being used to solder the inductance coil, and the slave soldering robot (30) driving the slave end effector (50) to move; and a controller (60) coupled to the master grabbing robot (20) and the slave soldering robot (30).

Description

一种焊接设备Welding equipment 【技术领域】【Technical Field】
本申请涉及焊接技术领域，尤其涉及一种焊接设备。This application relates to the field of welding technology, in particular to a welding device.
【背景技术】【Background technique】
随着机器人技术的发展，自动化的思想进步已深入各行各业，在滤波器生产行业，对电感线圈焊接的自动化需求也越来越多，但由于电感线圈的尺寸小巧且滤波器内空间有限，对实现电感线圈的自动化焊接具有一定难度。With the development of robot technology, the advancement of automation thinking has penetrated into all walks of life. In the filter production industry, there is more and more demand for automation of inductor coil welding. However, due to the small size of the inductor coil and the limited space in the filter, It is difficult to realize the automatic welding of inductance coils.
目前，滤波器厂商所用的电感线圈尺寸小巧，对于电感线圈的安装和焊接等大都是采用人工焊接，人工利用夹具对电感线圈进行基本的粗定位，将电感线圈放置在待焊接位置，再由人眼识别，依据电感线圈的具***置进行焊接，夹具种类繁多，工作效率不高。At present, the size of the inductor coil used by the filter manufacturer is small, and the installation and welding of the inductor coil are mostly manual welding. The clamp is used to perform rough rough positioning of the inductor coil, and the inductor coil is placed at the position to be welded, and then the person Eye recognition, welding according to the specific position of the inductance coil, there are many kinds of fixtures, and the working efficiency is not high.
因此，有必要提供一种焊接设备以解决上述技术问题。Therefore, it is necessary to provide a welding device to solve the above technical problems.
【发明内容】[Invention content]
本申请主要解决的技术问题是提供一种焊接设备，本申请的焊接设备能提高焊接的精度及工作效率。The technical problem mainly solved by the present application is to provide a welding equipment. The welding equipment of the present application can improve the welding accuracy and working efficiency.
为解决上述技术问题，本申请采用的技术方案是提供一种焊接设备，该焊接设备包括焊接台；主机抓取机器人，主机抓取机器人的一端连接有主机末端执行器，主机末端执行器用于抓取电感线圈，主机抓取机器人带动主机末端执行器将电感线圈运送至焊接台；从机焊接机器人，从机焊接机器人的一端连接有从机末端执行器，从机末端执行器用于对电感线圈进行焊接，从机焊接机器人带动从机末端执行器运动；控制器，控制器与主机抓取机器人以及从机焊接机器人耦接。In order to solve the above technical problems, the technical solution adopted by the present application is to provide a welding device including a welding station; a host grasping robot, a host end effector connected to one end of the host grasping robot, and the host end effector used for grasping Take the inductance coil, the host grasps the robot to drive the end effector of the host to transport the inductance coil to the welding station; the slave welding robot, one end of the slave welding robot is connected with the slave end effector, and the slave end effector is used to perform the induction coil Welding, the slave welding robot drives the end effector movement of the slave; the controller, the controller is coupled with the master grasping robot and the slave welding robot.
本申请的有益效果是：区别于现有技术的情况，本申请的焊接设备采用主机抓取机器人和从机焊接机器人双机协作的方式，通过主机抓取机器人上的主机末端执行器来抓取电感线圈以及将电感线圈运送至焊接台，并通过从机焊接机器人上的从机末端执行器对电感线圈进行焊 接，能实现电感线圈的自动焊接，从而提高焊接的精度及工作效率。The beneficial effects of the present application are: different from the situation in the prior art, the welding equipment of the present application adopts a two-machine cooperation mode of the master grab robot and the slave welding robot, and is grabbed by the master end effector on the master grab robot The inductor coil and the inductor coil are transported to the welding station, and the inductor coil is welded by the slave end effector on the slave welding robot, which can realize automatic welding of the inductor coil, thereby improving welding accuracy and working efficiency.
【附图说明】【Explanation of Drawing】
图1是本申请提供的焊接设备一实施方式的结构示意图；1 is a schematic structural view of an embodiment of a welding device provided by this application;
图2是本申请提供的焊接设备另一实施方式的主视结构示意图；2 is a schematic diagram of a front view of another embodiment of the welding equipment provided by the present application;
图3是图2中焊接设备的俯视结构示意图；FIG. 3 is a schematic plan view of the welding device in FIG. 2;
图4是图2中焊接设备的左视结构示意图；4 is a schematic view of the left side of the welding equipment in FIG. 2;
图5是图2中主机末端执行器一实施方式的主视结构示意图；5 is a schematic front view of an embodiment of the end effector of the host in FIG. 2;
图6是图2中主机末端执行器一实施方式的俯视结构示意图；6 is a schematic top view of an embodiment of the host end effector of FIG. 2;
图7是图2中从机末端执行器一实施方式的主视结构示意图；7 is a schematic front view of an embodiment of the slave end effector of FIG. 2;
图8是图2中从机末端执行器一实施方式的俯视结构示意图。8 is a schematic plan view of an embodiment of the slave end effector in FIG. 2.
【具体实施方式】【detailed description】
为使本申请的目的、技术方案和技术效果更加明确、清楚，以下对本申请进一步详细描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，均属于本申请保护的范围。In order to make the purpose, technical solutions and technical effects of the present application more clear and clear, the present application is described in further detail below. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in this application, all other embodiments obtained by a person of ordinary skill in the art without making creative work fall within the scope of protection of this application.
人工将电感线圈焊接到滤波器的待焊接位置时，一般是利用夹具对电感线圈进行粗定位，将电感线圈放置在待焊接位置后，再进行焊接。人工焊接使用的夹具种类繁多，且工作效率不高。为了提高工作效率以及提高焊接的精度，本申请采用主机抓取机器人和从机焊接机器人双机协作的方式。When manually welding the inductance coil to the filter to be welded, generally, the fixture is used to roughly position the inductance coil, the inductance coil is placed at the position to be welded, and then the welding is performed. There are many kinds of fixtures used in manual welding, and the work efficiency is not high. In order to improve work efficiency and improve welding accuracy, the present application adopts a two-machine collaboration mode of a master grasping robot and a slave welding robot.
请参阅图1，图1是本申请提供的焊接设备一实施方式的结构示意图。如图1所示，该焊接设备包括焊接台10、主机抓取机器人20、从机焊接机器人30、与主机抓取机器人20以及从机焊接机器人30耦接控制器60。其中，主机抓取机器人20的一端连接有主机末端执行器40，主机末端执行器40用于抓取电感线圈，主机抓取机器人20带动主机末端执行器40将电感线圈运送至焊接台10；从机焊接机器人30的一端连接有从机末端执行器50，从机末端执行器50用于对电感线圈进行焊接， 从机焊接机器人30带动从机末端执行器50运动；控制器60用于控制主机抓取机器人20以及从机焊接机器人30。通过本申请的焊接设备能提高焊接效率及精度。以下，结合图2～图8进行详细说明。Please refer to FIG. 1, which is a schematic structural diagram of an embodiment of a welding device provided by the present application. As shown in FIG. 1, the welding equipment includes a welding station 10, a master grasping robot 20, a slave welding robot 30, a controller 60 coupled with the master grasping robot 20 and a slave welding robot 30. Among them, one end of the host grasping robot 20 is connected to the host end effector 40, the host end effector 40 is used to grab the inductor coil, the host grasping robot 20 drives the host end effector 40 to transport the inductor coil to the welding station 10; The one end of the machine welding robot 30 is connected with the slave end effector 50. The slave end effector 50 is used to weld the inductance coil. The slave welding robot 30 drives the slave end effector 50 to move; the controller 60 is used to control the host The gripping robot 20 and the slave welding robot 30. The welding equipment of the present application can improve welding efficiency and accuracy. Hereinafter, the details will be described with reference to FIGS. 2 to 8.
请参阅图2～图4，图2是本申请提供的焊接设备另一实施方式的主视结构示意图。图3是图2中焊接设备的俯视结构示意图。图4是图2中焊接设备的左视结构示意图。该焊接设备包括焊接台11、主机抓取机器人12、从机焊接机器人13、控制器(图2中未示出)。控制器与主机抓取机器人12以及从机焊接机器人13耦接。本实施例中的焊接设备主要用于将电感线圈焊接到滤波器上待焊接的位置，在其他实施例中也可以用于焊接其他元器件，在此不做具体限定。Please refer to FIGS. 2 to 4. FIG. 2 is a schematic front view of another embodiment of the welding equipment provided by the present application. FIG. 3 is a schematic plan view of the welding device in FIG. 2. 4 is a schematic view of the left side structure of the welding device in FIG. 2. The welding equipment includes a welding station 11, a master grasping robot 12, a slave welding robot 13, and a controller (not shown in FIG. 2). The controller is coupled with the master grasping robot 12 and the slave welding robot 13. The welding device in this embodiment is mainly used for welding the inductance coil to the position to be welded on the filter, and in other embodiments can also be used for welding other components, which is not specifically limited herein.
在本实施例中，焊接台11为流转定位装置，其主要用于固定滤波器。主机抓取机器人12的一端连接有主机末端执行器13，主机末端执行器13用于抓取电感线圈，主机抓取机器人12在控制器的控制下带动主机末端执行器13将电感线圈准确的运送至焊接台11上待焊接的位置。从机焊接机器人14的一端连接有从机末端执行器15，从机焊接机器人14在控制器的控制下带动从机末端执行器15准确的运动至待焊接位置处，再由从机末端执行器15将电感线圈焊接在待焊接的位置。In this embodiment, the welding station 11 is a flow positioning device, which is mainly used to fix a filter. An end effector 13 of the host is connected to one end of the host grasping robot 12. The end effector 13 of the host is used to grasp the inductor coil. The host grasping robot 12 drives the end effector 13 of the host to accurately transport the inductor coil under the control of the controller. To the position to be welded on the welding table 11. The slave welding robot 14 is connected to the slave end effector 15 at one end. The slave welding robot 14 drives the slave end effector 15 to move accurately to the position to be welded under the control of the controller, and then the slave end effector 15 Weld the inductor coil at the position to be welded.
本实施例中，采用主机抓取机器人12和从机焊接机器人14双机协作的方式，通过主机抓取机器人12来夹取电感线圈以及将电感线圈运送至待焊接的位置处，并通过从机焊接机器人14将电感线圈焊接在滤波器上待焊接的位置，实现了电感线圈的自动焊接，提高了工作效率及焊接的精度。In this embodiment, the host grasping robot 12 and the slave welding robot 14 are used in a cooperative manner. The host grasping robot 12 grips the inductor coil and transports the inductor coil to the position to be welded, and then passes through the slave The welding robot 14 welds the inductance coil to the position to be welded on the filter, realizes automatic welding of the inductance coil, and improves work efficiency and welding accuracy.
请参阅图5～图6，图5是图2中主机末端执行器一实施方式的主视结构示意图。图6是图2中主机末端执行器一实施方式的俯视结构示意图。主机末端执行器13包括间隔设置有一预定距离的夹取装置131和视觉装置132，通过将夹取装置131和视觉装置132间设置一预定距离，从而使夹取装置131和视觉装置132在各自工作时不会相互干扰。夹取装置131和视觉装置132均固定在第一综合转接板133上，且第一综合转接板133通过第一转接套筒134固定在主机抓取机器人上。其中夹取 装置131用于夹取电感线圈，视觉装置132用于定位待焊接的位置。Please refer to FIG. 5 to FIG. 6. FIG. 5 is a schematic front view of an embodiment of the host end effector in FIG. 2. 6 is a schematic top view of an embodiment of the end effector of the host in FIG. 2. The host end effector 13 includes a gripping device 131 and a visual device 132 that are spaced apart by a predetermined distance. By setting a predetermined distance between the gripping device 131 and the visual device 132, the gripping device 131 and the visual device 132 work in their respective Will not interfere with each other. Both the gripping device 131 and the visual device 132 are fixed on the first integrated adapter plate 133, and the first integrated adapter plate 133 is fixed on the main body grab robot through the first adapter sleeve 134. The clamping device 131 is used to clamp the inductor coil, and the visual device 132 is used to locate the position to be welded.
具体地，夹取装置131包括夹爪135、夹爪驱动136、夹爪转接板137。其中夹爪135用于夹取电感线圈，夹爪驱动136与夹爪135连接，用于驱动夹爪135张开或闭合，夹爪转接板137的一端与夹爪驱动136连接，另一端与第一综合转接板133连接。夹取装置131在控制器的控制下抓取电感线圈，并将电感线圈运送至待焊接的位置。Specifically, the gripping device 131 includes a gripper 135, a gripper drive 136, and a gripper adapter plate 137. The clamping jaw 135 is used to clamp the inductance coil, the clamping jaw drive 136 is connected to the clamping jaw 135, and is used to drive the clamping jaw 135 to open or close. The first integrated adapter board 133 is connected. The gripping device 131 grips the inductor coil under the control of the controller, and transports the inductor coil to the position to be welded.
在一具体实施方式中，夹爪驱动136为气动夹爪或电动夹爪或其他能提供直线往复运动的动力源，在此不做具体限定。In a specific embodiment, the jaw drive 136 is a pneumatic jaw or an electric jaw or other power source capable of providing linear reciprocating motion, which is not specifically limited herein.
本实施例中，视觉装置132包括工业相机138、远心镜头139。工业相机138通过固定在第一综合转接板133上的相机固定板1313固定在主机抓取机器人上，工业相机138主要用于在控制器的控制下定位焊接台上的待焊接位置。远心镜头139与工业相机138螺纹连接，远心镜头139主要用于修正工业相机138的视差，从而工业相机138能更准确的对待焊接位置进行定位，即能获取更精确的待焊接位置。In this embodiment, the vision device 132 includes an industrial camera 138 and a telecentric lens 139. The industrial camera 138 is fixed to the mainframe grabbing robot through the camera fixing plate 1313 fixed on the first integrated adapter plate 133. The industrial camera 138 is mainly used to locate the position to be welded on the welding table under the control of the controller. The telecentric lens 139 is threadedly connected to the industrial camera 138. The telecentric lens 139 is mainly used to correct the parallax of the industrial camera 138, so that the industrial camera 138 can more accurately position the welding position, that is, obtain a more accurate position to be welded.
本实施例中，视觉装置132还包括与远心镜头139相对设置的光源1310，焊接台位于光源1310的照射范围内。通过光源1310将需要进行视觉识别的特征位置照亮，便于工业相机138获取光信号，并将获取的光信号转换为电信号，再将电信号传输至传感器，传感器对该电信号进行处理获取特征位置处的图像，从而实现定位。In this embodiment, the vision device 132 further includes a light source 1310 disposed opposite to the telecentric lens 139, and the welding table is located within the irradiation range of the light source 1310. Illuminate the position of the feature that needs to be visually recognized by the light source 1310, so that the industrial camera 138 can obtain the optical signal, convert the acquired optical signal into an electrical signal, and then transmit the electrical signal to the sensor. The sensor processes the electrical signal to obtain the feature The image at the location to achieve positioning.
在一具体实施方式中，光源1310为环光源，光源1310在其他具体实施方式中也可以为其他类型的光源。In a specific embodiment, the light source 1310 is a ring light source, and the light source 1310 may also be other types of light sources in other specific embodiments.
本实施例中，视觉装置132还包括光源调节板1311，该光源调节板1311的一端通过腰孔1312与第一综合转接板133连接，另一端与光源1310连接，光源调节板1311用于调节光源1310与远心镜头139之间的距离，以使光源1310相对远心镜头139做往复运动。在进行焊接前，通过调节光源调节板1311上的腰孔1312，将光源1310和远心镜头139之间调到合适的距离，从而利于在焊接过程中进行更精准的定位。In this embodiment, the visual device 132 further includes a light source adjustment plate 1311. One end of the light source adjustment plate 1311 is connected to the first integrated adapter plate 133 through a waist hole 1312, and the other end is connected to the light source 1310. The light source adjustment plate 1311 is used for adjustment The distance between the light source 1310 and the telecentric lens 139, so that the light source 1310 reciprocates relative to the telecentric lens 139. Before welding, the waist hole 1312 on the light source adjustment plate 1311 is adjusted to adjust the distance between the light source 1310 and the telecentric lens 139 to an appropriate distance, thereby facilitating more accurate positioning during the welding process.
进一步地，视觉装置132还包括与光源调节板1311和光源1310连接的光源加固板1314、光源固定板1315、光源转接板1316，用于将光 源1310固定在光源调节板1311上。Further, the visual device 132 further includes a light source reinforcing plate 1314, a light source fixing plate 1315, and a light source adapter plate 1316 connected to the light source adjusting plate 1311 and the light source 1310, for fixing the light source 1310 on the light source adjusting plate 1311.
请参阅图7～图8，图7是图2中从机末端执行器一实施方式的主视结构示意图。图8是图2中从机末端执行器一实施方式的俯视结构示意图。从机末端执行器15的一端设置有烙铁头151，烙铁头151用于焊接电感线圈，从机末端执行器15的另一端设置有喷嘴152和旋转毛刷153，旋转毛刷153用于清扫焊渣，喷嘴152用于吹走焊渣。从机末端执行器15还包括第二综合转接板154、加热芯安装架155、加热芯组件156，第二综合转接板154通过第二转接套筒157固定在从机焊接机器人14上，加热芯安装架155的一端与第二综合转接板154连接，另一端与加热芯组件156连接，加热芯组件156与烙铁头151连接，用于对烙铁头151加热。Please refer to FIGS. 7-8. FIG. 7 is a schematic front view of an embodiment of the slave end effector in FIG. 2. 8 is a schematic plan view of an embodiment of the slave end effector in FIG. 2. One end of the slave end effector 15 is provided with a soldering iron head 151, and the soldering iron head 151 is used for soldering an inductance coil. Slag, the nozzle 152 is used to blow away the welding slag. The slave end effector 15 further includes a second integrated adapter plate 154, a heating core mounting frame 155, and a heating core assembly 156. The second integrated adapter plate 154 is fixed to the slave welding robot 14 through a second adapter sleeve 157 One end of the heating core mounting frame 155 is connected to the second integrated adapter plate 154, and the other end is connected to the heating core assembly 156. The heating core assembly 156 is connected to the soldering iron head 151 for heating the soldering iron head 151.
进一步地，从机末端执行器15还包括连接板158、液体阀159，连接板158与第二综合转接板154固定连接，喷嘴152和旋转毛刷153分别设置在连接板158的两侧。液体阀159第二综合转接板154连接，且液体阀159与旋转毛刷153之间设置有输液管(图中未示出)，液体阀159开启时，通过输液管将清洗液输送至旋转毛刷153，从而含有清洗液的旋转毛刷153能更好的实现对焊点松香等焊渣的清扫。旋转毛刷153对焊渣清扫后，再通过喷嘴152喷出高速气流，从而吹走焊渣。Further, the slave end effector 15 further includes a connecting plate 158 and a liquid valve 159. The connecting plate 158 is fixedly connected to the second integrated adapter plate 154, and the nozzle 152 and the rotating brush 153 are respectively disposed on both sides of the connecting plate 158. The liquid valve 159 is connected to the second integrated adapter plate 154, and an infusion tube (not shown in the figure) is provided between the liquid valve 159 and the rotary brush 153. When the liquid valve 159 is opened, the cleaning liquid is transferred to the rotation through the infusion tube The brush 153, so that the rotating brush 153 containing the cleaning liquid can better clean the welding slag such as rosin at the solder joints. After the rotary brush 153 cleans the welding slag, a high-speed air flow is sprayed through the nozzle 152 to blow away the welding slag.
更进一步地，请参阅图2和图7，焊接设备还包括机架16，焊接台11、主机抓取机器人12和从机焊接机器人14设置在机架16上。在机架16上安装有清洗液储存瓶17，清洗液储存瓶17通过输液管和液体阀159以及旋转毛刷153连接，当液体阀159开启后，清洗液储存瓶17中的清洗液在重力的作用下通过输液管输送至旋转毛刷153。Further, referring to FIGS. 2 and 7, the welding equipment further includes a frame 16, and the welding table 11, the master gripping robot 12 and the slave welding robot 14 are disposed on the frame 16. A washing liquid storage bottle 17 is installed on the rack 16. The washing liquid storage bottle 17 is connected to the liquid valve 159 and the rotating brush 153 through an infusion tube. When the liquid valve 159 is opened, the washing liquid in the washing liquid storage bottle 17 is under gravity Under the action of the infusion tube to the rotating brush 153.
在一具体实施方式中，喷嘴152喷出高速气流为空气或氮气或其他气体，在此不做具体限定。In a specific embodiment, the high-speed air flow emitted by the nozzle 152 is air or nitrogen or other gases, which is not specifically limited herein.
在本实施方式中，从机末端执行器15还包括出丝组件1510，出丝组件1510与烙铁头151连接，用于将锡丝导向烙铁头151。通过加热芯组件156将烙铁头151加热到设定的温度，导向烙铁头151的锡丝熔化，从而烙铁头151将电感线圈焊接在滤波器待焊接的位置处。In this embodiment, the slave end effector 15 further includes a wire outlet assembly 1510 connected to the soldering iron head 151 for guiding the tin wire to the soldering iron head 151. By heating the core assembly 156 to heat the soldering iron head 151 to a set temperature, the tin wire directed to the soldering iron head 151 melts, so that the soldering iron head 151 welds the inductance coil at the position where the filter is to be soldered.
在一具体实施方式中，请继续参阅图2和图7，焊接设备还包括破锡机18，破锡机18设置在从机焊接机器人14上，破锡机18用于将锡丝破开，并将破开后的锡丝运送至出丝组件1510，再由出丝组件1510将锡丝导向烙铁头151。破锡机18是利用刀状齿轮在锡线上压出小孔，改善焊接环境，使锡线中的助焊剂在烙铁头151加热时气化，从孔中溢出，增强焊料的可焊性及流动性，从而防止焊接过程中出现锡爆现象。In a specific embodiment, please continue to refer to FIG. 2 and FIG. 7, the welding equipment further includes a tin breaking machine 18, the tin breaking machine 18 is disposed on the slave welding robot 14, the tin breaking machine 18 is used to break the tin wire, The broken tin wire is transported to the wire outlet assembly 1510, and then the wire outlet assembly 1510 guides the tin wire to the soldering iron head 151. The tin-breaker 18 uses a knife-shaped gear to press out small holes in the tin wire to improve the soldering environment, so that the flux in the tin wire vaporizes when the soldering iron tip 151 is heated, and overflows from the hole, enhancing the solderability of the solder and Mobility, thereby preventing tin explosion during welding.
优选地，请继续参阅图2～图4，在焊接台11与从机焊接机器人14之间还设置有烙铁清洗装置19，用于在焊接完后对烙铁头151进行清洗。具体地，烙铁清洗装置19能喷出高速气流，当刚焊接完时，烙铁头151的温度比较高，液态的锡附着在烙铁头151上，通过高速气流能将液态的锡从烙铁头151上吹走，从而实现对烙铁头151的清洗。在其他实施方式中，也可以通过其他方式对烙铁头151进行清洗，在此不做限定。Preferably, please continue to refer to FIG. 2 to FIG. 4, a soldering iron cleaning device 19 is further provided between the soldering station 11 and the slave welding robot 14 for cleaning the soldering iron head 151 after soldering. Specifically, the soldering iron cleaning device 19 can eject a high-speed airflow. When the soldering is completed, the temperature of the soldering iron head 151 is relatively high, and liquid tin adheres to the soldering iron head 151. The liquid tin can be removed from the soldering iron head 151 by the high-speed airflow By blowing away, the soldering iron head 151 is cleaned. In other embodiments, the soldering iron head 151 may also be cleaned in other ways, which is not limited herein.
更优选地，请继续参阅图2和图7，焊接设备还包括设置在机架16上的出丝控制器110和温度控制器111，出丝控制器110与出丝组件1510耦接，用于控制出丝组件1510向烙铁头151输送锡丝的速度；温度控制器111与加热芯组件156耦接，用于控制加热芯组件156对烙铁头151进行加热的温度。More preferably, please continue to refer to FIG. 2 and FIG. 7, the welding equipment further includes a wire outlet controller 110 and a temperature controller 111 provided on the frame 16, the wire outlet controller 110 is coupled to the wire outlet assembly 1510 for The speed of the wire feeding assembly 1510 to deliver the tin wire to the soldering iron head 151 is controlled; the temperature controller 111 is coupled to the heating core assembly 156 to control the temperature at which the heating core assembly 156 heats the soldering iron head 151.
在一具体实施方式中，在机架16上设置有电感料盘112，电感料盘112用于放置待焊接的电感线圈。当需要进行焊接时，主机抓取机器人12在控制器的控制下通过夹取装置131从电感料盘112夹取待焊接的电感线圈，同时通过从机焊接机器人14上的视觉装置132对待焊接的位置进行精确的定位，并将定位信息传输给控制器，控制器控制主机抓取机器人12将夹取的电感线圈准确的运送到焊接台11上待焊接的位置处，以及控制从机焊接机器人14通过烙铁头151将电感线圈焊接在滤波器上待焊接的位置处。本实施例中，主机抓取机器人12和从机焊接机器人14公用一个视觉装置132，从而简化设备结构。在其他实施例中也可以设置主机抓取机器人和从机焊接机器人分别各用一个视觉装置，即焊接设备共使用两个视觉装置，在此不做限定。In a specific embodiment, an inductance tray 112 is provided on the frame 16, and the inductance tray 112 is used to place an inductance coil to be welded. When welding is required, the master grasping robot 12 clamps the inductor coil to be welded from the inductor tray 112 through the clamping device 131 under the control of the controller, and at the same time, the vision device 132 on the slave welding robot 14 is to be welded The position is accurately positioned, and the positioning information is transmitted to the controller. The controller controls the master grasping robot 12 to accurately transport the clamped inductor coil to the welding position on the welding table 11, and controls the slave welding robot 14 The inductance coil is soldered at the position to be soldered on the filter through the soldering iron head 151. In this embodiment, the master grasping robot 12 and the slave welding robot 14 share a visual device 132, thereby simplifying the device structure. In other embodiments, it may also be provided that the master grasping robot and the slave welding robot respectively use one vision device, that is, the welding equipment uses a total of two vision devices, which is not limited herein.
本实施方式中，主机抓取机器人12和从机焊接机器人14公用一个 控制器，在其他实施方式中也可以设置主机抓取机器人和从机焊接机器人分别各用一个控制器，即焊接设备共使用两个控制器，且两个控制器之间通过串口通信或者主机抓取机器人和从机焊接机器人之间通过串口通信，本申请在此不做具体限定。In this embodiment, the master grasping robot 12 and the slave welding robot 14 share a controller. In other embodiments, the master grasping robot and the slave welding robot can each be provided with a controller, that is, the welding equipment is used in common. There are two controllers, and serial communication between the two controllers or serial communication between the master grab robot and the slave welding robot, which is not specifically limited in this application.
本申请的有益效果是：区别于现有技术的情况，本申请的焊接设备采用主机抓取机器人和从机焊接机器人双机协作的方式，通过主机抓取机器人上的主机末端执行器来抓取电感线圈以及将电感线圈运送至焊接台，并通过从机焊接机器人上的从机末端执行器对电感线圈进行焊接，能实现电感线圈的自动焊接，从而提高焊接的精度及工作效率。The beneficial effects of the present application are: different from the situation in the prior art, the welding equipment of the present application adopts a two-machine cooperation mode of the master grab robot and the slave welding robot, and is grabbed by the master end effector on the master grab robot The inductor coil and the inductor coil are transported to the welding station, and the inductor coil is welded by the slave end effector on the slave welding robot, which can realize automatic welding of the inductor coil, thereby improving welding accuracy and working efficiency.
以上所述仅为本申请的实施方式，并非因此限制本申请的专利保护范围，凡是利用本申请说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本申请的专利保护范围内。The above are only the embodiments of the present application, and therefore do not limit the scope of patent protection of the present application. Any equivalent structure or equivalent process transformation made by the description and drawings of this application, or directly or indirectly used in other related In the technical field, the same reason is included in the scope of patent protection of this application.

Claims (16)

  1. 一种焊接设备，其特征在于，所述焊接设备包括：A welding device, characterized in that the welding device includes:
    焊接台；Welding station
    主机抓取机器人，所述主机抓取机器人的一端连接有主机末端执行器，所述主机末端执行器用于抓取电感线圈，所述主机抓取机器人带动所述主机末端执行器将所述电感线圈运送至所述焊接台；A host grasping robot. One end of the host grasping robot is connected to a host end effector. The host end effector is used to grab an inductor coil. The host grasping robot drives the host end effector to move the inductor coil Transport to the welding station;
    从机焊接机器人，所述从机焊接机器人的一端连接有从机末端执行器，所述从机末端执行器用于对所述电感线圈进行焊接，所述从机焊接机器人带动所述从机末端执行器运动；Slave welding robot, one end of the slave welding robot is connected with a slave end effector, the slave end effector is used to weld the inductance coil, and the slave welding robot drives the slave end to execute Device movement
    控制器，所述控制器与所述主机抓取机器人以及所述从机焊接机器人耦接。A controller, which is coupled to the master gripping robot and the slave welding robot.
  2. 根据权利要求1所述的焊接设备，其特征在于，所述主机末端执行器包括间隔设置的夹取装置和视觉装置，所述夹取装置用于夹取所述电感线圈，所述视觉装置用于定位所述焊接台上的待焊接位置。The welding equipment according to claim 1, characterized in that the end effector of the host includes a clamping device and a visual device arranged at intervals, the clamping device is used to clamp the inductance coil, and the visual device is used To locate the position to be welded on the welding table.
  3. 根据权利要求2所述的焊接设备，其特征在于，所述主机末端执行器还包括第一综合转接板，所述第一综合转接板固定在所述主机抓取机器人上，所述夹取装置和所述视觉装置分别安装在所述第一综合转接板上，且所述夹取装置和所述视觉装置间隔有一预定距离。The welding device according to claim 2, characterized in that the end effector of the host further includes a first integrated adapter plate, the first integrated adapter plate is fixed on the host robot, the clip The picking device and the visual device are respectively installed on the first integrated adapter board, and the gripping device and the visual device are separated by a predetermined distance.
  4. 根据权利要求3所述的焊接设备，其特征在于，所述夹取装置包括：The welding equipment according to claim 3, wherein the gripping device comprises:
    夹爪，用于夹取所述电感线圈；A clamping jaw for clamping the inductor coil;
    夹爪驱动，所述夹爪驱动与所述夹爪连接，用于驱动所述夹爪张开或闭合；Jaw drive, the jaw drive is connected to the jaw and used to drive the jaw to open or close;
    夹爪转接板，所述夹爪转接板的一端与所述夹爪驱动连接，另一端与所述第一综合转接板连接。A clamping jaw adapter plate, one end of the clamping jaw adapter plate is drivingly connected to the clamping jaw, and the other end is connected to the first integrated adapter plate.
  5. 根据权利要求3所述的焊接设备，其特征在于，所述视觉装置包括工业相机，所述工业相机固定在所述第一综合转接板上，所述工业相机用于在所述控制器的控制下定位所述焊接台上的待焊接位置。The welding equipment according to claim 3, characterized in that the vision device includes an industrial camera, the industrial camera is fixed on the first integrated adapter plate, and the industrial camera is used in the controller Position the position to be welded on the welding table under control.
  6. 根据权利要求5所述的焊接设备，其特征在于，所述视觉装置还包括远心镜头，所述远心镜头与所述工业相机螺纹连接。The welding equipment according to claim 5, wherein the vision device further comprises a telecentric lens, and the telecentric lens is screwed to the industrial camera.
  7. 根据权利要求6所述的焊接设备，其特征在于，所述视觉装置还包括与所述远心镜头相对设置的光源，所述焊接台位于所述光源的照射范围内。The welding device according to claim 6, wherein the vision device further includes a light source disposed opposite to the telecentric lens, and the welding table is located within the irradiation range of the light source.
  8. 根据权利要求7所述的焊接设备，其特征在于，所述视觉装置还包括光源调节板，所述光源调节板的一端通过腰孔与所述第一综合转接板连接，另一端与所述光源连接，所述光源调节板用于调节所述光源，以使所述光源相对所述远心镜头做往复运动。The welding device according to claim 7, wherein the vision device further comprises a light source adjustment plate, one end of the light source adjustment plate is connected to the first integrated adapter plate through a waist hole, and the other end is connected to the The light source is connected, and the light source adjustment plate is used to adjust the light source, so that the light source reciprocates relative to the telecentric lens.
  9. 根据权利要求1所述的焊接设备，其特征在于，所述从机末端执行器的一端设置有烙铁头，所述烙铁头用于焊接所述电感线圈，所述从机末端执行器的另一端设置有喷嘴和旋转毛刷，所述旋转毛刷用于清扫焊渣，所述喷嘴用于吹走焊渣。The welding device according to claim 1, wherein one end of the slave end effector is provided with a soldering iron head, the soldering iron head is used for welding the inductance coil, and the other end of the slave end effector A nozzle and a rotating brush are provided, the rotating brush is used for cleaning welding slag, and the nozzle is used for blowing away the welding slag.
  10. 根据权利要求9所述的焊接设备，其特征在于，所述从机末端执行器还包括第二综合转接板、加热芯安装架、加热芯组件，所述第二综合转接板固定在所述从机焊接机器人上，所述加热芯安装架的一端与所述第二综合转接板连接，另一端与所述加热芯组件连接，所述加热芯组件与所述烙铁头连接，用于对所述烙铁头加热。The welding device according to claim 9, wherein the slave end effector further includes a second integrated adapter plate, a heating core mounting frame, and a heating core assembly, and the second integrated adapter plate is fixed to the On the slave welding robot, one end of the heating core mounting frame is connected to the second integrated adapter plate, and the other end is connected to the heating core assembly, and the heating core assembly is connected to the soldering iron head for Heat the soldering iron tip.
  11. 根据权利要求10所述的焊接设备，其特征在于，所述从机末端执行器还包括连接板，所述连接板与所述第二综合转接板固定连接，所述喷嘴和所述旋转毛刷分别设置在所述连接板的两侧。The welding device according to claim 10, wherein the slave end effector further comprises a connecting plate, the connecting plate is fixedly connected to the second integrated adapter plate, the nozzle and the rotating hair The brushes are respectively provided on both sides of the connecting plate.
  12. 根据权利要求10所述的焊接设备，其特征在于，所述从机末端执行器还包括出丝组件，所述出丝组件与所述烙铁头连接，用于将锡丝导向所述烙铁头。The soldering apparatus according to claim 10, wherein the slave end effector further includes a wire outlet assembly, and the wire outlet assembly is connected to the soldering iron head for guiding the tin wire to the soldering iron head.
  13. 根据权利要求12所述的焊接设备，其特征在于，所述焊接设备还包括破锡机，所述破锡机设置在所述从机焊接机器人上，所述破锡机用于将锡丝破开，并将破开后的锡丝运送至所述出丝组件。The welding equipment according to claim 12, characterized in that the welding equipment further comprises a tin breaking machine, the tin breaking machine is provided on the slave welding robot, and the tin breaking machine is used to break the tin wire Open, and transport the broken tin wire to the wire outlet assembly.
  14. 根据权利要求10所述的焊接设备，其特征在于，所述从机末端执行器还包括液体阀，所述液体阀与所述第二综合转接板连接，所述液体阀与所述旋转毛刷之间设置有气管，所述液体阀开启时，通过所述气管将清洗液输送至所述旋转毛刷。The welding equipment according to claim 10, wherein the slave end effector further includes a liquid valve, the liquid valve is connected to the second integrated adapter plate, the liquid valve and the rotary hair An air pipe is provided between the brushes, and when the liquid valve is opened, the cleaning liquid is delivered to the rotating brush through the air pipe.
  15. 根据权利要求1所述的焊接设备，其特征在于，所述焊接设备还包括机架，所述焊接台、所述主机抓取机器人和所述从机焊接机器人设置在所述机架上。The welding equipment according to claim 1, characterized in that the welding equipment further comprises a frame, and the welding table, the master gripping robot and the slave welding robot are arranged on the frame.
  16. 根据权利要求15所述的焊接设备，其特征在于，所述焊接设备还包括设置在所述机架上的出丝控制器和温度控制器，所述出丝控制器与所述出丝组件耦接，用于控制所述出丝组件向所述烙铁头输送锡丝的速度；所述温度控制器 与所述加热芯组件耦接，用于控制所述加热芯组件的加热温度。The welding equipment according to claim 15, wherein the welding equipment further comprises a wire outlet controller and a temperature controller provided on the frame, the wire outlet controller is coupled with the wire outlet assembly Then, it is used to control the speed of the tin wire assembly delivering tin wire to the soldering iron head; the temperature controller is coupled to the heating core assembly and is used to control the heating temperature of the heating core assembly.
PCT/CN2018/110898 2018-10-18 2018-10-18 Soldering device WO2020077601A1 (en)

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