CN106493448A - High-accuracy tin soldering robot 3 D stereo turntable - Google Patents
High-accuracy tin soldering robot 3 D stereo turntable Download PDFInfo
- Publication number
- CN106493448A CN106493448A CN201611097576.XA CN201611097576A CN106493448A CN 106493448 A CN106493448 A CN 106493448A CN 201611097576 A CN201611097576 A CN 201611097576A CN 106493448 A CN106493448 A CN 106493448A
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- China
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- axis
- servomotor
- tin soldering
- workpiece
- soldering robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K3/00—Tools, devices, or special appurtenances for soldering, e.g. brazing, or unsoldering, not specially adapted for particular methods
- B23K3/08—Auxiliary devices therefor
Abstract
High-accuracy tin soldering robot 3 D stereo turntable, it is related to tin soldering robot technical field；It includes work top and three-dimensional rotation platform, and work top is fixed on the upper end of three-dimensional rotation platform, and the U direction of principal axis of three-dimensional rotation platform is provided with U axle servomotors；The Y direction of three-dimensional rotation platform is provided with Y-axis servomotor；The W direction of principal axis of three-dimensional rotation platform is provided with W axle servomotors.Described U axle servomotors, Y-axis servomotor, W axles servomotor are connected with the central control system of tin soldering robot by servo controller respectively.It can carry out three-dimensional 360 degree of rotations and position to jig and welding workpiece, and the position of angle and Glue dripping head, plumb joint components and parts PIN to be welded is aligned to optimum state, so as to obtain optimal point tin cream and welding effect.
Description
Technical field
The present invention relates to tin soldering robot technical field, and in particular to a kind of high-accuracy tin soldering robot 3 D stereo rotation
Platform.
Background technology
Now, the shortage of manpower has had influence on all trades and professions, and recruitment is difficult, keep employee here is more difficult to, and this is each institute of enterprise face
The puzzlement that faces.How to go to dissolve the difficult predicament of recruitment, numerous enterprises are also in the searching countermeasure of all one's effort.Now, processing procedure, section are optimized
Human-saving just becomes an elementary tactics of enterprise.In order to improve production efficiency and product quality, also for reduce labour force into
This and alleviate employment pressure, artificial production is switched to automated production by existing increasing enterprise, additionally, production firm is to producing
The requirement of quality is also increasingly stricter, more and more high-end.Thus, automated production progressively will replace manually, also be recognized
For being the inexorable trend of this industry development.
Tin soldering robot, as the term suggests being a kind of scolding tin welding equipment, in addition to robot movement function, which is main
Or scolding tin operation will be completed.The comprehensive regulation in automatic tin welding machine three-dimensional space, make flatiron and solder be not required to through operator it
Handss, it instead of the both hands of people completely.
The operational method of tin soldering robot is typically placed on workpiece to be welded on one platform, existing scolding tin machine
In people, its work platforms can be along Y-axis action, and such design is suitable in one plane being welded.But, have
Other different angles are there is between components and parts PIN and pcb board or soft base plate pad, only along the flat of Y direction movement
Platform can not meet welding needs, because components and parts PIN and pcb board or soft base plate pad（Pad）With dispensing system
System, welding system contact plane not on an axis, dispensing, welding speed and precision can not all meet.
Content of the invention
It is an object of the invention to provide one kind can carry out three-dimensional 360 degree of rotations and determine to jig and welding workpiece
Position, the position of angle and Glue dripping head, plumb joint components and parts PIN to be welded are aligned to optimum state, optimal so as to obtain
Point tin cream and welding effect high-accuracy tin soldering robot 3 D stereo turntable.
In order to solve the problems of background technology, the present invention is to employ the following technical solutions：A kind of high-accuracy scolding tin
Robot three-dimensional stereo rotating platform, it include work top and three-dimensional rotation platform, and work top is fixed on the upper of three-dimensional rotation platform
End, and the U direction of principal axis of three-dimensional rotation platform is provided with U axle servomotors；The Y direction of three-dimensional rotation platform is provided with Y-axis servo electricity
Machine；The W direction of principal axis of three-dimensional rotation platform is provided with W axle servomotors.
As a further improvement on the present invention；Described U axle servomotors, Y-axis servomotor, W axles servomotor difference
It is connected with the central control system of tin soldering robot by servo controller.
As a further improvement on the present invention；Described U axle servomotors, Y-axis servomotor, W axles servomotor and watch
Take controller and constitute servo direct driving drive mechanism.
As a further improvement on the present invention；The initial rotation angle of described U axle servomotors is 45 °.
The present invention principle be：3 D stereo turntable is used for installing processing workpiece, and whole platform can pass through independent
Servo direct driving drive mechanism, carries out the motion of horizontal Y-axis fore-and-aft direction.In order to adapt to the components and parts PIN of different angles with
Precision welding between pcb board or soft base plate pad（The such as PIN of OIS mobile lens and pcb board or the folder of soft base plate pad
Angle is 90 degree, the angle of the PIN of the large scale integrated chip (LSI chip) of different cultivars and pcb board or soft base plate pad be 0 degree, 90 degree or
180 degree, the angle for also having some components and parts PINs different from there are other between pcb board or soft base plate pad）, whole flat
Platform can also carry out the axial 360 degree of rotary motions of horizontal W and vertical U axle sides by independent servo direct driving drive mechanism
To 360 degree of rotary motions so that components and parts PIN and pcb board or soft base plate pad（Pad）With dispenser system, welding system
System is in optimal contact plane all the time, and the earth improves dispensing, the speed of welding and precision.
Moved by horizontal Y-axis fore-and-aft direction, horizontal plane rotates W axles and vertical rotates what U axles were controlled simultaneously, Ke Yirang
The platform for placing workpiece is moved freely and rotates to the angle of needs, to coordinate dispenser system, welding system more easily to work
Part（Components and parts PIN and pcb board or soft base plate pad）Carry out a tin cream and welding.When whole machine brings into operation, need to adjust
The Y-axis of 3 D stereo turntable is needed for 3 D stereo turntable W axles to rotate to water to specified location when plane takes pictures positioning
Square to specified location, need for 3 D stereo turntable U axles to rotate to vertical direction specified angle when positioning is taken pictures on inclined-plane
Position（Glue dripping head and plumb joint are just to components and parts PIN and pcb board or soft base plate pad angular position）, in order to a tin cream and
Weld job.The initial anglec of rotation that sets of U axles rotation is as 45 ° so that components and parts PIN to be welded and pcb board or soft base plate
Pad angle is just to tin cream syringe needle and a plumb joint.
After using above-mentioned technical proposal, the invention has the advantages that：
Three-dimensional 360 degree of rotations can be carried out to jig and welding workpiece and is positioned, the angle of components and parts PIN to be welded
Optimum state is aligned to the position of Glue dripping head, plumb joint, so as to obtain optimal point tin cream and welding effect.
Description of the drawings
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
Accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the structural representation of embodiment provided by the present invention；
Fig. 2 is that embodiment provided by the present invention horizontally rotates schematic diagram along W axles；
Fig. 3 be embodiment provided by the present invention along U axle vertical rotary schematic diagrams；
Fig. 4 is the control principle drawing of embodiment provided by the present invention；
Reference：
1 work top；2 W axle servomotors；3 three-dimensional rotation platforms；4 Y-axis servomotors；5 U axle servomotors.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with accompanying drawing and it is embodied as
Mode, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only in order to explaining this
Invention, is not intended to limit the present invention.
Fig. 1-Fig. 4 is referred to, this specific embodiment is employed the following technical solutions：A kind of high-accuracy tin soldering robot is three-dimensional
Stereo rotating platform, it include work top 1, W axles servomotor 2, three-dimensional rotation platform 3, Y-axis servomotor 4, U axle servomotors
5, work top 1 is fixed on the upper end of three-dimensional rotation platform 3, and the U direction of principal axis of three-dimensional rotation platform 3 is provided with U axles servomotor 5；
The Y direction of three-dimensional rotation platform 3 is provided with Y-axis servomotor 4；The W direction of principal axis of three-dimensional rotation platform 3 is provided with W axle servomotors
2；Described U axles servomotor 5, Y-axis servomotor 4, W axles servomotor 2 are respectively by servo controller and tin soldering robot
Central control system connection, and U axles servomotor 5, Y-axis servomotor 4, W axles servomotor 2 and servo controller constitute and watch
Take straight driving transmission mechanism；The initial rotation angle of described U axles servomotor 5 is 45 °.
This specific embodiment coordinates machine vision alignment system, can complete workpiece planarization positioning and take pictures and workpiece slope
Positioning is taken pictures：
Fig. 2 is referred to, workpiece planarization positioning is taken pictures：Machine vision alignment system X-axis, three-dimensional rotation platform Y-axis first run to flat
The face predeterminated position taken pictures of positioning, then machine vision alignment system Z axis rerun the predeterminated position that plane positioning is taken pictures, open
Begin to workpiece（Components and parts PIN and pcb board or soft base plate pad）Carry out plane positioning to take pictures.Calculate out according to visual system
Deviation, 3 D stereo rotation platform W axles rotate, workpiece level position on turntable is precisely finely tuned, is completed plane
Positioning is taken pictures；
Fig. 3 is referred to, workpiece slope positioning is taken pictures：3 D stereo rotation platform U axle rotating operations, are turned to turntable first
Default angle（Predetermined angle is 45 °）, then machine vision alignment system X-axis, 3 D stereo rotation platform Y-axis run to tiltedly
The face predeterminated position taken pictures of positioning, last machine vision alignment system Z axis rerun the predeterminated position that contour localization is taken pictures, and open
Begin to carry out contour localization to workpiece and take pictures, according to the deviation that visual system is calculated out, machine vision alignment system X-axis, three
The Y-axis operation of dimension stereo rotating platform, is precisely finely tuned to workpiece vertical angular positions and horizontal level on turntable, is completed tiltedly
Face positioning is taken pictures.
The workflow of this specific embodiment is：
1st, when machine brings into operation, 3 D stereo turntable is rotated by horizontal direction W axle and the rotation of vertical direction U axle, will
Workpiece to be welded is delivered to default specified location；
2nd, start plane to take pictures finder, first by the motion of horizontal Y-axis fore-and-aft direction, workpiece to be welded is delivered to flat
Face is taken pictures predeterminated position, calculates deviation according to vision positioning system, adjusts the horizontal direction W axle of 3 D stereo turntable
Rotation, the position of workpiece to be welded is aligned in the range of the plane deviation of permission；
3rd, start inclined-plane to take pictures finder, first by the rotation of vertical direction U axle, workpiece to be welded is delivered to inclined-plane bat
According to predetermined angle, deviation is calculated according to vision positioning system, adjust moving forward and backward for horizontal direction Y-axis, by work to be welded
The position of part is aligned in the inclined-plane deviation range of permission；
4th, positioning of taking pictures is finished, and successively starts dispenser system and welding system, by dispensing and welding system horizontal direction X-axis
Side-to-side movement and 3 D stereo turntable horizontal direction Y-axis are moved forward and backward so that Glue dripping head, solder head and workpiece to be welded
（Components and parts PIN and pcb board or soft base plate pad）Position in optimum state, complete efficient, reliable welding procedure.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of spirit or essential attributes without departing substantially from the present invention, the present invention can be realized in other specific forms.Therefore, nothing
By from the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended
Claim rather than described above are limited, it is intended that by the institute in the implication and scope of the equivalency of claim that falls
Change and include in the present invention.Any reference in claim should not be considered as and limit involved claim.
Moreover, it will be appreciated that although this specification is been described by according to embodiment, not each embodiment is only wrapped
Contain an independent technical scheme, this narrating mode of description is only that those skilled in the art should for clarity
Using description as an entirety, the technical scheme in each embodiment can also form those skilled in the art through appropriately combined
Understandable other embodiment.
Claims (5)
1. high-accuracy tin soldering robot 3 D stereo turntable, it is characterised in that it includes work top and three-dimensional rotation platform, work
As the upper end that table top is fixed on three-dimensional rotation platform, and the U direction of principal axis of three-dimensional rotation platform is provided with U axle servomotors；Three-dimensional rotation
The Y direction of platform is provided with Y-axis servomotor；The W direction of principal axis of three-dimensional rotation platform is provided with W axle servomotors.
2. high-accuracy tin soldering robot 3 D stereo turntable according to claim 1, it is characterised in that described U axles
Servomotor, Y-axis servomotor, W axles servomotor are respectively by servo controller and the central control system of tin soldering robot
Connection.
3. high-accuracy tin soldering robot 3 D stereo turntable according to claim 2, it is characterised in that described U axles
Servomotor, Y-axis servomotor, W axles servomotor and servo controller constitute servo direct driving drive mechanism.
4. high-accuracy tin soldering robot 3 D stereo turntable according to claim 1, it is characterised in that described U axles
The initial rotation angle of servomotor is 45 °.
5. high-accuracy tin soldering robot 3 D stereo turntable, it is characterised in that its workflow is：
（1）, machine is when bringing into operation, 3 D stereo turntable is rotated by horizontal direction W axle and the rotation of vertical direction U axle,
Workpiece to be welded is delivered to default specified location；
（2）, start plane and take pictures finder, first by the motion of horizontal Y-axis fore-and-aft direction, workpiece to be welded is delivered to
Plane is taken pictures predeterminated position, calculates deviation according to vision positioning system, adjusts the horizontal direction W axle of 3 D stereo turntable
Rotation, the position of workpiece to be welded is aligned in the range of the plane deviation of permission；
（3）, start inclined-plane and take pictures finder, first by the rotation of vertical direction U axle, workpiece to be welded is delivered to inclined-plane
Take pictures predetermined angle, deviation is calculated according to vision positioning system, adjust moving forward and backward for horizontal direction Y-axis, will be to be welded
The position of workpiece is aligned in the inclined-plane deviation range of permission；
（4）, positioning of taking pictures finish, successively start dispenser system and welding system, by dispensing and welding system horizontal direction X-axis
Side-to-side movement and 3 D stereo turntable horizontal direction Y-axis move forward and backward so that Glue dripping head, solder head and workpiece to be welded
Position in optimum state, complete welding procedure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611097576.XA CN106493448A (en) | 2016-12-03 | 2016-12-03 | High-accuracy tin soldering robot 3 D stereo turntable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611097576.XA CN106493448A (en) | 2016-12-03 | 2016-12-03 | High-accuracy tin soldering robot 3 D stereo turntable |
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| Publication Number | Publication Date |
|---|---|
| CN106493448A true CN106493448A (en) | 2017-03-15 |
Family
ID=58330470
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611097576.XA Pending CN106493448A (en) | 2016-12-03 | 2016-12-03 | High-accuracy tin soldering robot 3 D stereo turntable |
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| Country | Link |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20230046823A1 (en) * | 2021-08-12 | 2023-02-16 | Delta Electronics, Inc. | Automatic soldering processing system and automatic soldering processing method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6581818B1 (en) * | 2001-12-27 | 2003-06-24 | Yu-Chen Tu | Trough device in a soldering furnace |
| CN203221507U (en) * | 2013-04-15 | 2013-10-02 | 苏州工业园区职业技术学院 | SDOF intermediate-speed full-automatic tin soldering robot servo control system based on image processing |
| CN203738185U (en) * | 2013-12-30 | 2014-07-30 | 天津市无线电元件五厂 | Tin cream supply quantity stabilizing device |
| CN204130615U (en) * | 2014-08-25 | 2015-01-28 | 深圳市科达利实业股份有限公司 | The welding equipment of electrokinetic cell brace |
| CN106392238A (en) * | 2016-12-02 | 2017-02-15 | 无锡职业技术学院 | High-precision multi-axis motion three-dimensional micro-welding robot |
-
2016
- 2016-12-03 CN CN201611097576.XA patent/CN106493448A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6581818B1 (en) * | 2001-12-27 | 2003-06-24 | Yu-Chen Tu | Trough device in a soldering furnace |
| CN203221507U (en) * | 2013-04-15 | 2013-10-02 | 苏州工业园区职业技术学院 | SDOF intermediate-speed full-automatic tin soldering robot servo control system based on image processing |
| CN203738185U (en) * | 2013-12-30 | 2014-07-30 | 天津市无线电元件五厂 | Tin cream supply quantity stabilizing device |
| CN204130615U (en) * | 2014-08-25 | 2015-01-28 | 深圳市科达利实业股份有限公司 | The welding equipment of electrokinetic cell brace |
| CN106392238A (en) * | 2016-12-02 | 2017-02-15 | 无锡职业技术学院 | High-precision multi-axis motion three-dimensional micro-welding robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20230046823A1 (en) * | 2021-08-12 | 2023-02-16 | Delta Electronics, Inc. | Automatic soldering processing system and automatic soldering processing method |
| US11766731B2 (en) * | 2021-08-12 | 2023-09-26 | Delta Electronics, Inc. | Automatic soldering processing system and automatic soldering processing method |
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| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170315 |