CN106424998A - Automatic laser soldering system based on welding spot recognition - Google Patents
Automatic laser soldering system based on welding spot recognition Download PDFInfo
- Publication number
- CN106424998A CN106424998A CN201610787055.0A CN201610787055A CN106424998A CN 106424998 A CN106424998 A CN 106424998A CN 201610787055 A CN201610787055 A CN 201610787055A CN 106424998 A CN106424998 A CN 106424998A
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- China
- Prior art keywords
- welding
- image
- tracing
- solder joint
- soldering system
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Classifications
-
- 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
- B23K1/00—Soldering, e.g. brazing, or unsoldering
- B23K1/005—Soldering by means of radiant energy
-
- 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
-
- 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
-
- 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
- B23K3/06—Solder feeding devices; Solder melting pans
- B23K3/0607—Solder feeding devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K3/00—Tools, devices, or special appurtenances for soldering, e.g. brazing, or unsoldering, not specially adapted for particular methods
- B23K3/08—Auxiliary devices therefor
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention discloses an automatic laser soldering system based on welding spot recognition. The system comprises a conveying device used for conveying a PCB to a welding zone, a tracing and locating device used for automatically tracing and locating the position of each welding spot, a welding device used for accurately welding the welding spot through laser, and a control module used for coordinating operations of all mechanisms. During operating of the system, firstly, each welding spot on the welded PCB is precollected through the tracing and locating device, all welding spot images are spliced into a whole PCB template, and the to-be-welded PCB is conveyed to a welding position through the conveying device; the images of the welding spots of the to-be-welded PCB are recollected through the tracing and locating device, the recollected images are compared with the precollected images, and the positions, on the PCB, of the welding spots are ascertained; and finally, the ascertained welding spots are subjected to laser radiation through the welding device so as to guarantee accuracy of the welding position. Automatic accurate tracing for the welding spots can be achieved, so that welding accuracy is improved, and meanwhile, the automatic welding level is improved.
Description
Technical field
The present invention relates to laser welding technology field, particularly relate to a kind of based on solder joint identification automatic laser solder system
System.
Background technology
Existing laser soldering device, although be capable of welding, but owing to welding precision is not high, it is impossible to fit and become in height
The high PCB welding of integrated and required precision, the control difficulty of laser high-precision welding simultaneously is big, and laser power easily occurs in a large number
Burn PCB, and the phenomenons such as rosin joint easily occur when laser power is low.
Content of the invention
The technical problem that present invention mainly solves is to provide a kind of based on solder joint identification automatic laser soldering system, this base
Can realize welding the PCB that welding precision or integrated level are higher in solder joint identification automatic laser soldering system, improve
Welding quality, precision and welding efficiency.
In order to solve above-mentioned technical problem, the present invention provides a kind of based on solder joint identification automatic laser soldering system, should
Include conveying arrangement, tracing positioning device, welder and control module based on solder joint identification automatic laser soldering system, its
In,
Pcb board to be welded is stably entirely sent to welding region by described conveying arrangement；
Described tracing positioning device, during welding, automatic tracing positions each weld locations；
Described welder, butt welding contact carries out accurate welding；
Described control module, is connected formation electric loop with detent mechanism, welding mechanism, transport establishment, coordinates the work of each mechanism.
Described welder includes pedestal and the laser head being connected with pedestal and the Song Xi mechanism coordinating with laser head.
Saying further, described welder also includes that the butt welding contact being connected with pedestal respectively carries out pre-warmed preheating
The temperature of mechanism and butt welding contact carries out the temperature measuring mechanism of Real-time Collection.
Saying further, described temperature measuring mechanism includes thermal bulb and is distributed in the infrared temperature sensor of thermal bulb, described
Thermal bulb and the laser coaxial heart.
Saying further, described tracing positioning device also includes gathering laser head moving displacement and to control module feedback
Displacement transducer.
Saying further, described tracing positioning device includes that the image gathering each pad image of welding region in advance is pre-
Acquisition module, the welding image acquisition module of Real-time Collection to-be-welded region pad image, and to the image gathering in advance
Splicing and image comparison determine the image processing module of welding position；Coordinate image pre-acquired mould, image processing module, weldering
Connect the positioning control module of image capture module work.
Saying further, described tracing positioning device also includes the control instruction according to control module output to laser head position
The laser head putting adjustment follows the trail of mechanism, and this laser head is followed the trail of mechanism and included being connected with control module signal and make laser head along X-axis
The X-axis translated linear motor that direction is moved and the Y-axis translated linear motor making laser head move along Y direction.
Saying further, described image pre-acquired module and welding image acquisition module are located on rotating support, should
Image pre-acquired module and the optical axis of welding image acquisition module and holder pivots wheelbase are from identical.
Saying further, described welder also includes that the position detected the tin silk position sending welder here passes
Sensor.
Saying further, described welder is additionally provided with laser head fine position mechanism, this laser head fine position mechanism
Including the fixing seat being rotatably assorted with pedestal and the rotary drive motor making angle that fixing seat rotates.
The present invention is based on solder joint identification automatic laser soldering system, including be stably entirely sent to pcb board to be welded
The conveying arrangement of welding region, in welding process, automatic tracing positions the tracing positioning device of each weld locations, to welding
Point carries out the welder of precision laser welding, is connected formation electric loop, association with detent mechanism, welding mechanism, transport establishment
The control module of Tiao Ge mechanism work.During work, first gathered each pad of pcb board of welding in advance by tracing positioning device,
Each pad image mosaic is become a complete pcb board template, then by conveying arrangement, pcb board to be welded is delivered to weld
Connect position, again gathered such welding PCB pad image by tracing positioning device, by the image of the image gathering and pre-acquired
Compare, determine position in pcb board for the pad, finally welder is carried out laser irradiation to the pad determining,
Ensure that welding position is accurate, use the same manner to be tracked next weld locations, until pcb board completes welding.By
In realizing that butt welding contact is accurately followed the trail of automatically, welding precision can be improved, improve Automation of Welding degree simultaneously.
Song Xi mechanism in this system is additionally provided with scarce tin and Ka Xi reports to the police, this Song Xi mechanism and welder linkage work,
I.e. only have Song Xi mechanism just can carry out swashing when tin silk is delivered to bond pad locations connecing work, in order to avoid tin silk goes out in course of conveying
Now deforming, this Song Xi mechanism is additionally provided with tin silk straightening mechanism.
Described welder also includes the position sensor that the tin silk position sending welder here is detected, and can keep away
Exempt from the situation that tin silk do not puts in place to irradiate laser and weld, damage pcb board or electronic devices and components.
Brief description
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the accompanying drawing of required use is briefly described, it should be apparent that, and the accompanying drawing in describing is the one of the present invention
A little embodiments, to those skilled in the art, on the premise of not paying creative work, can also be according to these
Accompanying drawing obtains other accompanying drawings.
Fig. 1 is based on solder joint identification automatic laser soldering system embodiment electrical schematics.
Fig. 2 is welder example structure schematic diagram.
Fig. 3 is tracing positioning device embodiment electrical schematics.
Fig. 4 is tracing positioning device example structure schematic diagram.
Below in conjunction with embodiment, and referring to the drawings, the realization of the object of the invention, functional characteristics and advantage are described further.
Detailed description of the invention
In order to the purpose, technical scheme and the advantage that make invention are clearer, attached below in conjunction with in the embodiment of the present invention
Figure, is clearly and completely described to the technical scheme in the embodiment of the present invention, it is clear that described embodiment is invention one
Section Example, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not doing
The every other embodiment being obtained on the premise of going out creative work, broadly falls into the scope of protection of the invention.
Such as Fig. 1, the present invention provides a kind of based on solder joint identification automatic laser soldering system embodiment
Conveying arrangement the 1st, tracing positioning device the 2nd, welder 3 and control should be included based on solder joint identification automatic laser soldering system
Molding block 4, wherein, described conveying arrangement 1, pcb board to be welded is stably entirely sent to welding region；Described tracking
Positioner 2, during welding, automatic tracing positions each weld locations；Described welder 3, true according to tracing positioning device 2
Fixed weld locations sends out pass laser, carries out accurate welding；Described control module 4, with detent mechanism, welding mechanism, transporter
Structure connects formation electric loop, coordinates the work of each mechanism.
Specifically, described conveying arrangement 1 is not that the present invention improves technology point, and its concrete structure is not construed as limiting, permissible
Existing conveying arrangement is used to realize.
As in figure 2 it is shown, described welder 3 include the laser instrument with laser head 34 and coordinate with laser head 34 send tin machine
Structure 33, also includes that butt welding contact carries out pre-warmed preheating mechanism 32, and the temperature of butt welding contact carries out the survey of Real-time Collection
Temperature mechanism.Specifically, described welder 3 includes pedestal 31, and this pedestal 31 is provided with Song Xi mechanism the 33rd, preheating mechanism 32 and
Laser head 34, and the camera 36 for Real-time Collection pad, also include making to be fixed with Song Xi mechanism the 33rd, preheating mechanism 32
The rotary drive motor 37 rotating with the fixing seat 35 of laser head 34 grade, this rotary drive motor 37 is with fixing seat 35 transmission even
Connecing, concrete which kind of structure of employing that is in transmission connection is not construed as limiting, and can be common such as gear or belt transmission, it is also possible to be it
His drive mechanism.Described welder 3 can also include that the position detected the tin silk position sending welder here passes
Sensor, it is to avoid present solder joint welds action in the case of not having welding wire by mistake, damages pcb board or components and parts.
Described Song Xi mechanism 33 is additionally provided with scarce tin and Ka Xi reports to the police, this Song Xi mechanism and welder linkage work, i.e. only
Just can carry out swashing when tin silk is delivered to bond pad locations by You Song tin mechanism connecing work, in order to avoid tin silk occurs change in course of conveying
Shape, this Song Xi mechanism is additionally provided with tin silk straightening mechanism.
As it is shown on figure 3, described tracing positioning device 2 includes：Gather the image of each pad image of welding region in advance
Pre-acquired mould 24, the welding image acquisition module 25 of Real-time Collection to-be-welded region pad image, and to gathering in advance
Image mosaic processes the image processing module 23 determining welding position with image comparison；Butt welding contact puts the pad being tracked
Follow the trail of mechanism 22；Coordinate the tracing and positioning control mould of image pre-acquired mould, image processing module, the work of welding image acquisition module
Block 21.Specifically, described pad tracking mechanism 22 includes instructing according to tracing and positioning control module 21 making laser head along X-axis
The X-axis translated linear motor 222 that direction is moved and the Y-axis translated linear motor 221 making laser head move along Y direction, such as Fig. 4
Shown in.Described tracing positioning device 2 also includes to Y-axis translated linear motor 221 and X-axis translated linear motor 222 displacement data
Feed back to the displacement transducer of tracing and positioning control module 21（Accompanying drawing indicating is shown）, can ensure that movement by this displacement transducer
More accurate, improve welding essence and connect.Described welding image acquisition module 25 and image pre-acquired mould 24 can use existing CCD
Or CMOS camera.
In the present embodiment, described image pre-acquired module 24 and welding image acquisition module 25 are located at rotating support
On, this image pre-acquired module 24 and the optical axis of welding image acquisition module 25 and fixed mount rotary shaft apart from identical, Ke Yibao
The image that card gathers twice is a same station acquisition, when gathering image, and welding image acquisition module and image pre-acquired
The optical axis of module is located along the same line, it is ensured that angle, the size etc. that gather image are identical, reduce pattern distortion, carry further
The high quality gathering image, it is simple to the accuracy of image comparison, improves welding precision.Described tracing positioning device 2 also include with
Control module signal connects the rotary electric machine making holder pivots（Accompanying drawing does not indicates）, can be in image pre-acquired by rotary electric machine
Module collection transfers welding image acquisition module acquisition state automatically to after completing, improve automatization level.
In order to accurately control welding temperature, it is to avoid the impact on pcb board and electronic devices and components for temperature during welding, described weldering
Connection device 3 also includes temperature measuring mechanism, and this temperature measuring mechanism includes thermal bulb and is distributed in the infrared temperature sensor of thermal bulb, described
Thermal bulb and the laser coaxial heart.
During work, first gathered each pad of pcb board of welding in advance by tracing positioning device, by each pad image
It is spliced into a complete pcb board template, then pcb board to be welded is delivered to welding position by conveying arrangement, fixed by following the trail of
Position device gathers such welding PCB pad image again, compares the image of the image of collection and pre-acquired, determines weldering
Position in pcb board for the contact, is finally carried out laser irradiation by welder to the pad determining, it is ensured that welding position essence
Really, the same manner is used to be tracked next weld locations, until pcb board completes welding.Owing to butt welding can be realized
Contact is accurately followed the trail of automatically, can improve welding precision, improve Automation of Welding degree simultaneously.
During due to welding, the components and parts of each solder joint vary in size, thus easily cannot when special angle laser irradiates
Be irradiated to need bond pad locations, failure welding easily occurs, or cannot weld situation occur, therefore described can be in described weldering
Connection device 3 is additionally provided with laser head fine position mechanism.
This laser head fine position mechanism includes the fixing seat 35 being rotatably assorted with this pedestal 31 and makes fixing seat 35 rotate
The rotary drive motor 37 of angle, specifically, described Song Xi mechanism the 33rd, preheating mechanism the 32nd, camera 36 and laser head 34
Being connected with fixing seat 35 respectively, described rotary drive motor 37 is connected with fixing seat 35 by transmission mechanism, can be common
Such as gear or belt transmission, it is also possible to be other drive mechanism, when weld locations is lived by other components and parts shelves, rotation is driven
Dynamic motor 37 makes fixing seat 35 turn an angle, and the 32nd, images with fixing described Song Xi mechanism the 33rd, the preheating mechanism of fixing seat 35
36 and laser head 34 synchronous axial system, it is constant at the projected position of pcb board, then is gathered now solder joint by camera 36, determines
When can weld, then weld with laser irradiation.
Above example only in order to technical scheme to be described, is not intended to limit；Although with reference to previous embodiment to this
Invention has been described in detail, and it will be understood by those within the art that：It still can be to foregoing embodiments institute
The technical scheme recorded is modified, or carries out equivalent to wherein portion of techniques feature, and these modifications or replacement, and
The essence not making appropriate technical solution departs from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (10)
1. based on solder joint identification automatic laser soldering system, it is characterised in that include conveying arrangement, tracing positioning device, weldering
Connection device and control module, wherein,
Pcb board to be welded is stably entirely sent to welding region by described conveying arrangement；
Described tracing positioning device, during welding, automatic tracing positions each weld locations；
Described welder, butt welding contact carries out accurate welding；
Described control module, is connected formation electric loop with detent mechanism, welding mechanism, transport establishment, coordinates the work of each mechanism.
2. according to claim 1 based on solder joint identification automatic laser soldering system, it is characterised in that：Described welder
Including pedestal and the laser head being connected with pedestal and the Song Xi mechanism coordinating with laser head.
3. according to claim 1 or claim 2 based on solder joint identification automatic laser soldering system, it is characterised in that：Described welding
Device also includes that the butt welding contact being connected with pedestal respectively carries out pre-warmed preheating mechanism and the temperature of butt welding contact carries out reality
When gather temperature measuring mechanism.
4. according to claim 3 based on solder joint identification automatic laser soldering system, it is characterised in that：Described temperature measuring mechanism
Including thermal bulb and the infrared temperature sensor being distributed in thermal bulb, described thermal bulb and the laser coaxial heart.
5. according to claim 1 based on solder joint identification automatic laser soldering system, it is characterised in that：Described tracing and positioning
Device also includes gathering laser head moving displacement the displacement transducer to control module feedback.
6. according to claim 1 based on solder joint identification automatic laser soldering system, it is characterised in that：Described tracing and positioning
Device includes the image pre-acquired module gathering each pad image of welding region in advance, and Real-time Collection to-be-welded region is welded
The welding image acquisition module of dot image, and welding position is determined to the image mosaic process and image comparison gathering in advance
Image processing module；Coordinate the positioning control mould of image pre-acquired mould, image processing module, the work of welding image acquisition module
Block.
7. according to claim 6 based on solder joint identification automatic laser soldering system, it is characterised in that：Described tracing and positioning
Device also includes that the laser head to laser head position adjustment for the control instruction according to control module output follows the trail of mechanism, this laser head
Follow the trail of the X-axis translated linear motor that mechanism includes being connected with control module signal and make laser head to move along X-direction and make to swash
The Y-axis translated linear motor that shaven head moves along Y direction.
8. according to claim 6 based on solder joint identification automatic laser soldering system, it is characterised in that：Described image is adopted in advance
Collection module and welding image acquisition module are located on rotating support, this image pre-acquired module and welding image acquisition module
Optical axis and holder pivots wheelbase from identical.
9. according to claim 3 based on solder joint identification automatic laser soldering system, it is characterised in that：Described welder
Also include the position sensor that the tin silk position sending welder here is detected.
10. according to claim 4 based on solder joint identification automatic laser soldering system, it is characterised in that：Described welding dress
Putting and being additionally provided with laser head fine position mechanism, this laser head fine position mechanism includes the fixing seat being rotatably assorted with pedestal and makes
The rotary drive motor of the angle that fixing seat rotates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610787055.0A CN106424998A (en) | 2016-08-31 | 2016-08-31 | Automatic laser soldering system based on welding spot recognition |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610787055.0A CN106424998A (en) | 2016-08-31 | 2016-08-31 | Automatic laser soldering system based on welding spot recognition |
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| CN106424998A true CN106424998A (en) | 2017-02-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610787055.0A Pending CN106424998A (en) | 2016-08-31 | 2016-08-31 | Automatic laser soldering system based on welding spot recognition |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107900485A (en) * | 2017-11-16 | 2018-04-13 | 广州市谊华电子设备有限公司 | Tin soldering machine control system |
| CN108213629A (en) * | 2018-01-22 | 2018-06-29 | 深圳市迈威测控技术有限公司 | Intelligent Laser tin soldering equipment |
| CN108908403A (en) * | 2018-07-25 | 2018-11-30 | 武汉瑞博奥科技有限公司 | The unmanned intelligent optic electron system of precision based on infrared vision and intelligent optimization algorithm |
| CN109447941A (en) * | 2018-09-07 | 2019-03-08 | 广州大学 | Autoregistration and quality determining method in a kind of laser soldering system welding process |
| CN110449767A (en) * | 2019-08-21 | 2019-11-15 | 华育昌(肇庆)智能科技研究有限公司 | A kind of high-precision solder joint welding system of wiring board based on machine vision |
| CN113523552A (en) * | 2021-08-03 | 2021-10-22 | 电子科技大学 | Laser welding equipment suitable for long-line welding and laser energy control method |
| CN114986051A (en) * | 2022-06-14 | 2022-09-02 | 广东天太机器人有限公司 | Industrial robot welding control system and method based on template recognition |
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| CN113523552A (en) * | 2021-08-03 | 2021-10-22 | 电子科技大学 | Laser welding equipment suitable for long-line welding and laser energy control method |
| CN114986051A (en) * | 2022-06-14 | 2022-09-02 | 广东天太机器人有限公司 | Industrial robot welding control system and method based on template recognition |
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