CN103769711A - Welding robot and alignment locating mechanism thereof - Google Patents

Welding robot and alignment locating mechanism thereof Download PDF

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Publication number
CN103769711A
CN103769711A CN201210409239.5A CN201210409239A CN103769711A CN 103769711 A CN103769711 A CN 103769711A CN 201210409239 A CN201210409239 A CN 201210409239A CN 103769711 A CN103769711 A CN 103769711A
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CN
China
Prior art keywords
spring
component
detent
transfer arm
aligning
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Pending
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CN201210409239.5A
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Chinese (zh)
Inventor
冯时佳
Y·拉乌
陆蓓雯
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Bosch Automotive Products Changsha Co Ltd
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Bosch Automotive Products Changsha Co Ltd
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.)
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Application filed by Bosch Automotive Products Changsha Co Ltd filed Critical Bosch Automotive Products Changsha Co Ltd
Priority to CN201210409239.5A priority Critical patent/CN103769711A/en
Publication of CN103769711A publication Critical patent/CN103769711A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K3/00Tools, devices, or special appurtenances for soldering, e.g. brazing, or unsoldering, not specially adapted for particular methods
    • B23K3/08Auxiliary devices therefor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2101/00Articles made by soldering, welding or cutting
    • B23K2101/36Electric or electronic devices
    • B23K2101/42Printed circuits

Abstract

The invention relates to an alignment locating mechanism of a welding robot. The alignment locating mechanism comprises a first component in the first direction and a second component in the second direction, the first component is provided with a first spring structure, the second component is provided with a second spring structure, and the second direction and the first direction form an included angle. The first spring structure comprises a first fixed support, a first spring, a first sensor module and a detecting target, and the second spring structure comprises a second fixed support, a second spring, a second sensor module and a detecting target. When the first component or the second component slides, the free end of the first component or the free end of the second component is in contact with a stopping portion arranged on the first component or the second component in advance, and therefore the sensor modules detect the movement of the detecting targets. The invention further relates to the welding robot. The welding robot comprises a moving arm, the alignment locating mechanism arranged at the free end of the moving arm, a soldering bit and a wire feeder, and the soldering bit and the wire feeder are connected with the alignment locating mechanism.

Description

Welding robot and aligning detent mechanism thereof
Technical field
The present invention relates to welding robot, and relate more specifically to the aligning detent mechanism for the solder horn of welding robot.
Background technology
Through hole welding procedure (pin-through hole soldering process) is widely used in electronics industry manufacture.Conventionally, adopt welding robot to complete the required each step of through hole welding procedure.Welding robot has transfer arm that can be three-dimensional mobile and the control module that the motion of described transfer arm is controlled substantially.Solder horn and the wire feeder for welding wire are installed on transfer arm.In the time of work, printed circuit board (PCB) is fixed on the workbench of welding robot, and the pin of electronic devices and components to be welded is inserted in the through hole in printed circuit board (PCB).Under the control of control module, the transfer arm of welding robot moves and wire feeder wire feed, so that solder horn and welding wire are positioned near position to be welded.Solder horn after energising melts welding wire, thereby electronic devices and components are welded on printed circuit board (PCB).
The subject matter facing in this welding procedure is solder horn accurately must be positioned to welding position at every turn.Also just say, solder horn will contact the pin of electronic devices and components and the weld zone of printed circuit board (PCB) simultaneously.If only in the two contacts solder horn with the pin of electronic devices and components and the weld zone of printed circuit board (PCB) mistakenly, the heating-up temperature of the pin of electronic devices and components and the weld zone of printed circuit board (PCB) is likely different so.The consequence causing so probably makes scolder cooling, welding wire melting and cannot form required being welded to connect between pin and weld zone as required rapidly.
Japanese Patent Publication document (JP4333363) discloses a kind of welding robot, on the transfer arm of this welding robot, solder horn is installed, this solder horn is connected with the transfer arm of this welding robot via a set of parallel spring system, thereby this solder horn can be mobile with the path of this transfer arm with paralleling.Although this patent publication us is improved the transfer arm that solder horn is installed, in the time of operation, still cannot reliably guarantee that solder horn can contact with the weld zone of the pin of electronic devices and components and printed circuit board (PCB) simultaneously.
If cannot guarantee that welding robot solder horn in the time of operation contacts with the pin of electronic devices and components and the weld zone of printed circuit board (PCB) simultaneously, the temperature of the pin of electronic devices and components and the weld zone of printed circuit board (PCB) there are differences, thereby scolder is likely too fast cooling, cause guaranteeing the desired welding quality between the pin of electronic devices and components and the weld zone of printed circuit board (PCB).In addition, if the contact force between the pin of solder horn and electronic devices and components and the weld zone of printed circuit board (PCB) is excessive, may causes the damage of the pin of electronic devices and components and the weld zone of printed circuit board (PCB), and affect welding quality.
Summary of the invention
An object of the present invention is to provide a kind of aligning detent mechanism of the solder horn for welding robot, it can make solder horn always contact with the pin of electronic devices and components and the weld zone of printed circuit board (PCB) exactly simultaneously, thereby raising welding quality, and can prevent that the excessive situation of contact force from occurring.
According to an aspect of the present invention, a kind of aligning detent mechanism of welding robot is provided, it comprises: first component, described first component is provided with the first spring structure, and described first component is installed and can be moved along first direction with respect to described transfer arm on the transfer arm of described welding robot, second component, described second component is provided with the second spring structure, described second component is installed and can be moved along second direction with respect to described transfer arm or described first component on described transfer arm or described first component, and wherein said second direction becomes angle setting with described first direction, wherein, described the first spring structure comprises the first fixed support, one end is fixing and along the first spring of first direction application of force effect on described the first fixed support, the detection target that fixing first sensor module and the free end with respect to described the first spring are settled on described the first fixed support, described the second spring structure comprises the second fixed support, one end is fixing and along the second spring of second direction application of force effect on described the second fixed support, the second sensor assembly of fixing on described the second fixed support and the detection target of settling with respect to the free end of described the second spring, in the time of described first component or second component slip, the free end of the described first or second spring can be relative with described stopper section static with stopper section contact maintenance default on described first component or second component, thereby the described first or second sensor assembly can detect the motion of described detection target.
Alternatively, the described first and/or second sensor assembly comprises at least one sensor, to detect the motion of described detection target.
Alternatively, the described first and/or second sensor assembly comprises the sensor of at least two spaces, to detect the motion of described detection target.
Preferably, described sensor is photoelectric sensor, and described detection target is made up of reflectorized material.
Preferably, first component and/or the second component of described aligning detent mechanism comprise rail plate, the described first and/or second fixed support arranges in the retaining rail of described rail plate, and described detection target arranges or arranges on the predeterminated position of the slip rail of described rail plate on the free end of the described first and/or second spring.
Preferably, the described first and/or second spring is helical spring.
Preferably, described first direction is substantially perpendicular to described second direction.
Preferably, the solder horn of described aligning detent mechanism and welding robot is fixedly linked.
Preferably, described aligning detent mechanism also comprises the 3rd parts, described the 3rd parts are provided with the 3rd spring structure, described the 3rd parts can slide with respect to the third direction that is different from first direction or second direction, and described the 3rd spring structure is identical with the first spring structure or the second spring structure structure.
According to a further aspect in the invention, provide a kind of welding robot, it comprises: transfer arm; Control module, to control the movement of described transfer arm; Aligning detent mechanism as above, described aligning detent mechanism is arranged on the free end of described transfer arm; And the solder horn being connected with described aligning detent mechanism and the wire feeder that welding wire is provided.
Adopt the technical scheme providing in this specification and claims, because location aligning guide comprises having at least two spring systems along the spring structure of different directions, so solder horn can contact with the weld zone of the pin of electronic devices and components and printed circuit board (PCB) simultaneously, improve welding quality, and can prevent that the excessive situation of contact force from occurring.
Accompanying drawing explanation
Fig. 1 has schematically shown the fragmentary, perspective view of welding robot according to an embodiment of the invention;
Fig. 2 schematically amplifies and shows according to aiming at the spring system of being installed in detent mechanism as dashed circle institute target on the transfer arm of the welding robot of Fig. 1;
Fig. 3 shows the front view of the aligning detent mechanism of solder horn according to an embodiment of the invention; And
Fig. 4 a to Fig. 4 c shows according to the solder horn of welding robot of the present invention in the operating process of aiming under detent mechanism effect.
The specific embodiment
Preferred embodiments more of the present invention are described with reference to the accompanying drawings.In each accompanying drawing, identical parts are represented by identical Reference numeral.
Fig. 1 has schematically shown welding robot 1 according to an embodiment of the invention.This welding robot 1 comprises substantially can be along three-dimensional x, y or z mobile transfer arm 2, fixing workbench 4 and (unshowned) control module arbitrarily, and wherein said control module is for example programmable logic controller (PLC) (PLC) and the motion that can control transfer arm.On a free end of transfer arm 2, be provided with and aim at detent mechanism 3.
Aim at detent mechanism 3 via a support and be fixedly linked for wire feeder 5 and the flatiron 7 of welding wire.As shown in Figure 1, support is provided with brace 6, is angularly fixed with respectively described wire feeder 5 and described flatiron 7 on the two ends of brace 6.Brace 6 is arc-shaped structure, and is provided with the arc groove conforming to its profile.By along arc groove mobile link sheet 6, can change wire feeder 5 and flatiron 7 angle with respect to workbench 4, to realize the welding of different angles.
As example, aim at detent mechanism 3 and comprise the first component 3.1 and the second component 3.2 that can be each other free to slide along z and x direction.In the time that aligning detent mechanism 3 does not use, first component 3.1 and second component 3.2 can be locked to each other and cannot be moved by corresponding locking device.Only need to aim at solder horn 8 that detent mechanism 3 makes flatiron 7 accurately when location, thus locking device be unlocked first component 3.1 and second component 3.2 can be respectively along along z and the free relative sliding of x direction.Between first component 3.1 and second component 3.2, can adopt any structure known in the art to realize relative sliding.For example, between the end of the transfer arm 2 of first component 3.1 and welding robot 1, rail plate (not shown) can be installed, between first component 3.1 and second component 3.2, rail plate (not shown) can be installed simultaneously.
As just an example, what can expect is that rail plate between the end of transfer arm 2 of first component 3.1 and welding robot 1 is installed in the x-direction, thereby first component 3.1 can be free to slide in the x-direction with respect to the transfer arm of welding robot 12; And rail plate between first component 3.1 and second component 3.2 installs in the z-direction, thereby second component 3.2 can be free to slide in the z-direction with respect to first component 3.1 or transfer arm 2.Obviously, above-mentioned situation about putting upside down is also suitable for for the present invention.
According to an aspect of the present invention, aim in detent mechanism 3 spring system 9 is installed.Below consult the structure of Fig. 2 and 3 detailed description spring systems 9.
As shown in Figure 2, the spring system 9 of aligning detent mechanism 3 comprises two spring structures 9.1 and 9.2.These two spring structures 9.1 and 9.2 respectively in first component 3.1 and second component 3.2 or on settle, thereby spring structure 9.1 is consistent with the glide direction of second component 3.2 with first component 3.1 respectively with 9.2 direction.
For example, as shown in Figure 3, spring structure 9.1 is in the interior installation of first component 3.1, thereby spring structure 9.1 is longitudinally consistent with x direction; Spring structure 9.2 is in the interior installation of second component 3.2, thereby spring structure 9.2 is longitudinally consistent with z direction.
Spring structure 9.1 comprises fixed support 10, spring 11, sensor assembly 12 and detects target 13.For example, fixed support 10 is rigid elongate plate structure, is vertically extended with fixed part 10.1 in one end of fixed support 10, for fixed support 10 one end of fixing spring 11 abreast.As shown in Figures 2 and 3, fixed support 10 for example can be arranged in the retaining rail of the rail plate between composition first component 3.1 and transfer arm 2.Sensor assembly 12 is arranged on fixed support 10 with the stiff end of spring 11 separated by a distancely.On another free end of spring 11, be provided with and detect target 13.The length of this spring 11 is arranged to this detection target 13 and is crossed a little in the x-direction sensor assembly 12.For example, in the time that first component 3.1 slides with respect to transfer arm 2 via rail plate, detect target 13 and can use respectively empty wire frame representation at Fig. 2 in 3 with stopper section 15(on another sliding part in rail plate) contact, thus spring 11 pressurizeds.Along with the further pressurized of spring 11, detect target 13 and move to the stiff end of spring 11 with respect to sensor assembly 12, thereby sensor assembly 12 can detect this motion that detects target 13.That is to say, when the motion of first component 3.1, be obstructed and can be detected in this wise.
It should be understood that in the time observing in the y-direction, spring structure 9.1 and 9.2 staggers mutually, and first component 3.1 is independent of each other with second component 3.2 slip separately like this.In addition, also should be clear, the shape of stopper section 15 can not be rectangle as shown in Figures 2 and 3, any can all can employing in the present invention with the suitable shape contacting of detection target 13.Sensor assembly 12 is connected with the control module of welding robot, thereby detecting that detecting target 13 can pass to control module by signal while moving.As shown in Figures 2 and 3, sensor assembly 12 for example comprises two isolated sensors 12.1 and 12.2.In illustrative examples of the present invention, sensor 12.1 and 12.2 is photoelectric sensors, detects target 13 and is coated with reflecting coating.But the present invention is not limited to so.For example, sensor assembly can also arrange in the mode of Hall element.Or, even can cancel sensor 12.1 and 12.2, and only be replaced by switch.In this case, detect target 13 and be set to a push rod, when push rod moves with respect to fixed support 10 and makes switch closure when the switch, thereby produce the signal that can be received by control module.
In an embodiment of the present invention, sensor assembly 12 is longitudinally provided with two sensors 12.1 and 12.2 along fixed support 10.Whether sensor 12.1 touches stopper section default on guide rail for detection of spring 11.Sensor 12.2 is spaced a distance with sensor 12.1, this segment distance be spring 11 allowed by situation can compressed maximum length.That is to say, sensor 12.2 can be allowed to the amount of maximum compression for detection of spring 11.
Certainly, also can expect, sensor assembly 12 can only arrange a sensor, thereby only whether detection springs 11 touches stopper section default on guide rail.Or sensor assembly 12 can longitudinally be arranged side by side more than two sensors on fixed support 10, thus the pressurized situation of detection springs 11 as required.
Although mention detection target 13 is arranged on one end of spring 11 above-mentioned, but as an alternative, detecting target 13 can be arranged on the slip rail of rail plate, thereby in the first component 3.1 mobile free end contact that makes spring 11 for example on the slip rail at rail plate when default stopper section and pressurized in the x-direction, detect target 13 and also can move with respect to sensor assembly 12 as described above, so that the contact of its detection springs 11 and/or pressurized situation.
Although spring 11 is helical spring as shown in Figures 2 and 3, what can expect is that spring 11 can be set to any device that other has elasticity and can bear pressure as an alternative, for example folded spring or be even only the elastomer that can compress.
As an alternative, sensor assembly 12 can be for example near the stiff end setting of spring 11 and detect target 13 on the stiff end of spring 11 or near setting, to move in the x-direction and when pressurized, sensor assembly 12 also can detect the motion that detects target 13 at spring 11.
Below be only illustrated with reference to spring structure 9.1, but should know that spring structure 9.2 is identical with spring structure 9.1 aspect structure.Difference between the two is only that spring structure 9.2 is for example in the z-direction on second component 3.2 or interior installation, thereby detects the motion of second component 3.2.
Schematically illustrate the operating process under the effect of its aligning detent mechanism according to the solder horn of welding robot of the present invention referring to accompanying drawing 4a to 4c.
First,, as shown in Fig. 4 a, printed circuit board (PCB) (PCB) is fixed on the workbench 4 of welding robot.The pin 14 of electronic devices and components (not shown) has passed the through hole emplace of printed circuit board (PCB).The transfer arm 2 of welding robot moves according to preset program by control module (not shown), thereby solder horn 8 for example moves near the respective lands of pin 14 and printed circuit board (PCB) normal incidence with pin 14 in the y-direction.
In illustrative examples of the present invention, solder horn 8 is for example conical.As shown in Fig. 4 a, in this case, the transfer arm 2 of welding robot moves according to preset program by control module (not shown), the edge take the edge of close pin 14 of end that makes solder horn 8 far from the x direction distance of pin 14 as close the printed circuit board (PCB) of the end of distance s and solder horn 8 far from the z direction of printed circuit board (PCB) apart from also as distance s.This for example can be by making anchor point in advance on workbench and printed circuit board (PCB), then under the control of program, make transfer arm 2 move realizes.In illustrative examples of the present invention, distance s can be for example 0.5 millimeter to 0.8 millimeter or 0.8 millimeter to 1.0 millimeters.Alternatively, can expect be at solder horn 8 for spherical in the situation that, distance s refers to the contiguous point of contact of spherical solder horn apart from the distance of pin or weld zone.
Then, the control module of welding robot 1 sends instruction and makes on transfer arm 2 the aligning detent mechanism 3 of the present invention installed in running order.Then, as shown in Figure 4 b, transfer arm 2 for example starts first to approach in the x-direction pin 14.Along with the movement of transfer arm 2, solder horn 8 moves closer to pin 14 in the x-direction.After solder horn 8 contacts with pin 14, the first component 3.1 of aiming at detent mechanism 3 under the effect of contact force slides in the x-direction with respect to transfer arm 2, thereby aims at the sensor 12.1 that target 13 moves through sensor assembly 12 on spring structure 9.1, for example moves through sensor assembly 12.At sensor assembly 12 or after more properly sensor 12.1 detects the movement of aiming at target 13, send signal to control module, thereby control module stops transfer arm 2 movement in the x-direction.
Then, control module sends instruction and makes transfer arm 2 approach in the z-direction the weld zone of printed circuit board (PCB).As shown in Fig. 4 c, along with the movement of transfer arm 2, solder horn 8 moves closer to the weld zone of printed circuit board (PCB) in the z-direction.After solder horn 8 contacts with weld zone, under the effect of contact force, aim at the second component 3.2 of detent mechanism 3 and slides in the z-direction with respect to first component 3.1, thereby aligning target 13 moves through sensor assembly 12 on spring structure 9.2, for example moves through the sensor 12.1 of sensor assembly 12.At sensor assembly 12 or after more properly sensor 12.1 detects the movement of aiming at target 13, send signal to control module, thereby control module stops transfer arm 2 movement in the z-direction.
Like this, guaranteed that solder horn 8 contacts with the weld zone of pin 14 and printed circuit board (PCB), thereby they are simultaneously heated simultaneously, and are accompanied by sending into of welding wire, electronic devices and components can be welded on printed circuit board (PCB) reliably.Can expect, after a pin 14 is soldered, under the control of control module, solder horn 8 resilience fast, thus spring 9 restores to the original state, and it is locked to aim at detent mechanism 3, to carry out the welding job of next pin.
Because the foozle of electronic devices and components and printed circuit board (PCB), cannot guarantee that the contact force between the pin of solder horn 8 and electronic devices and components and the weld zone of printed circuit board (PCB) is always suitable.If contact force is excessive, the pin of electronic devices and components and the weld zone of printed circuit board (PCB) easily suffer damage.If contact force is too small or even there is no contact force, also easily cause the pin of electronic devices and components and the heating of the weld zone of printed circuit board (PCB) inhomogeneous.
For this reason, for example two sensors 12.1 and 12.2 arrange in each sensor assembly 12.The object of sensor 12.2 is to prevent that the contact force between the pin of solder horn 8 and electronic devices and components or the weld zone of printed circuit board (PCB) is excessive.For example, the spacing between sensor 12.1 and sensor 12.2 is set to the deflection under contact force effect that spring 11 allows in maximum.
For example, move in the x-direction and aim at target 13 in the situation that first component 3.1 does not stop moving yet afterwards through sensor 12.1 at the first component 3.1 of aiming at detent mechanism 3, move through sensor 12.2 and detected by it if aim at target 13, this means that contact force between solder horn 8 and pin 14 is approaching or exceed maximum permissible value.Therefore, control module for example sends instruction stops the operation of welding robot, and protection electronic devices and components or printed circuit board (PCB) are avoided infringement.
Below only schematically illustrated the working method of aligning detent mechanism 3 of the present invention, but the present invention is not limited to this.For example, there is first component 3.1 and the second component 3.2 that can be free to slide in the x-direction and in the z-direction although mentioned in an illustrated embodiment aligning detent mechanism 3, be also contemplated that aiming at detent mechanism 3 can also be provided with the 3rd parts that can be free to slide in the y-direction.In the 3rd parts or on can arrange and the similar spring structure of spring structure 9.1 and 9.2 of spring system 9.That is to say, aligning detent mechanism 3 can be provided with can be along the spring system of three direction x, y, z 9.
In the embodiment having illustrated, to aim at first component 3.1 and the second component 3.2 of detent mechanism 3 and itself be free to slide, they are under the drive of transfer arm 2 and relative sliding.But what can expect as an alternative, is to aim at detent mechanism 3 itself can be provided with micromachine.Micromachine is subject to the control of the control module of welding robot 1, thereby first component 3.1 and second component 3.2 can be driven movement along rail plate separately.In this case, solder horn 8 still can move near the pin 14 of electronic devices and components and the weld zone of printed circuit board (PCB) as shown in Fig. 4 a; Then, aim under the effect of micromachine of detent mechanism 3, solder horn 8 also can move as described above, thereby guarantees that solder horn 8 and the pin 14 of electronic devices and components and the weld zone of printed circuit board (PCB) accurately contact simultaneously and prevent that contact force is excessive and suffer damage.
As an alternative, the first component 3.1 of aligning detent mechanism 3 of the present invention and/or second component 3.2 can directly be set to pair of sliding guide rail.In this case, fixing on the free end of transfer arm 2 as the retaining rail of the pair of sliding guide rail of first component, and slip rail is affixed with the retaining rail of the pair of sliding guide rail as second component, thus the support of solder horn 8 is fixed on slip rail.In this case, the installation on rail plate of the each several part of spring system 9, similar with embodiment as above.
Can slide or move along orthogonal direction although mentioned first component and second component in described embodiment, what can expect be that the direction that first component and second component also can along non-perpendicular direction, for example intersect is slided or moves.In this case, can know that location of the present invention aligning guide can make solder horn contact with the pin of electronic devices and components and the weld zone of printed circuit board (PCB) exactly equally simultaneously.
Can expect, this aligning detent mechanism according to the present invention is not limited only to use in the solder horn of welding robot is aimed at location.Device or equipment that any needs are accurately aimed at location all can adopt similarly according to this aligning detent mechanism of the present invention.
Although describe specific implementations of the present invention here in detail, the object that they are only used to explain provides, and should not think that they are construed as limiting scope of the present invention.Without departing from the spirit and scope of the present invention, various replacements, change and transformation can be conceived out.

Claims (10)

1. an aligning detent mechanism for welding robot, it comprises:
First component, described first component is provided with the first spring structure, and described first component is installed and can be moved along first direction with respect to described transfer arm on the transfer arm of described welding robot;
Second component, described second component is provided with the second spring structure, described second component is installed and can be moved along second direction with respect to described transfer arm or described first component on described transfer arm or described first component, and wherein said second direction becomes angle setting with described first direction; Wherein
Described the first spring structure comprises the first fixed support, one end is fixing and along the first spring of first direction application of force effect on described the first fixed support, the detection target that fixing first sensor module and the free end with respect to described the first spring are settled on described the first fixed support, described the second spring structure comprises the second fixed support, one end is fixing and along the second spring of second direction application of force effect on described the second fixed support, the second sensor assembly of fixing on described the second fixed support and the detection target of settling with respect to the free end of described the second spring, in the time of described first component or second component slip, the free end of the described first or second spring can be relative with described stopper section static with stopper section contact maintenance default on described first component or second component, thereby the described first or second sensor assembly can detect the motion of described detection target.
2. aligning detent mechanism according to claim 1, wherein, the described first and/or second sensor assembly comprises at least one sensor, to detect the motion of described detection target.
3. aligning detent mechanism according to claim 1, wherein, the described first and/or second sensor assembly comprises the sensor of at least two spaces, to detect the motion of described detection target.
4. according to the aligning detent mechanism described in claim 2 or 3, wherein, described sensor is photoelectric sensor, and described detection target is made up of reflectorized material.
5. according to the arbitrary described aligning detent mechanism of aforementioned claim, wherein, first component and/or the second component of described aligning detent mechanism comprise rail plate, the described first and/or second fixed support arranges in the retaining rail of described rail plate, and described detection target arranges or arranges on the predeterminated position of the slip rail of described rail plate on the free end of the described first and/or second spring.
6. according to the arbitrary described aligning detent mechanism of aforementioned claim, wherein, the described first and/or second spring is helical spring.
7. according to the arbitrary described aligning detent mechanism of aforementioned claim, wherein, described first direction is substantially perpendicular to described second direction.
8. according to the arbitrary described aligning detent mechanism of aforementioned claim, wherein, the solder horn of described aligning detent mechanism and welding robot is fixedly linked.
9. according to the arbitrary described aligning detent mechanism of aforementioned claim, wherein, described aligning detent mechanism also comprises the 3rd parts, described the 3rd parts are provided with the 3rd spring structure, described the 3rd parts can slide with respect to the third direction that is different from first direction or second direction, and described the 3rd spring structure is identical with the first spring structure or the second spring structure structure.
10. a welding robot, it comprises:
Transfer arm;
Control module, to control the movement of described transfer arm;
According to the arbitrary described aligning detent mechanism of aforementioned claim, described aligning detent mechanism is arranged on the free end of described transfer arm; And
The solder horn being connected with described aligning detent mechanism and the wire feeder that welding wire is provided.
CN201210409239.5A 2012-10-24 2012-10-24 Welding robot and alignment locating mechanism thereof Pending CN103769711A (en)

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JPH04333363A (en) * 1991-05-02 1992-11-20 Fujitsu Ltd Iron type automatic soldering device
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Application publication date: 20140507