CN106513914A - Cantilever welding module - Google Patents
Cantilever welding module Download PDFInfo
- Publication number
- CN106513914A CN106513914A CN201710007040.2A CN201710007040A CN106513914A CN 106513914 A CN106513914 A CN 106513914A CN 201710007040 A CN201710007040 A CN 201710007040A CN 106513914 A CN106513914 A CN 106513914A
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- CN
- China
- Prior art keywords
- axis
- gripper
- grab claw
- frame
- module
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- Legal status (The legal status 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 status listed.)
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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
- 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)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention relates to a cantilever welding module which comprises an inlet and outlet connecting platform, a mobile platform, a grab claw, a tin furnace module, and further comprises a grab claw connecting plate as well as two grab claw fixing arms, wherein the grab claw comprises a grab claw mounting plate; one side at the lower end of the grab claw connecting plate is connected with the grab claw mounting plate through a grab claw rotary shaft; the other side at the lower end of the grab claw connecting plate is equipped with a regulating air cylinder; a supporting base which is rotatably connected with the outer surface of the regulating air cylinder is arranged on the grab claw connecting plate; an air cylinder connecting base which is rotatably connected with a movable end of the regulating air cylinder is arranged on the grab claw mounting plate; a grab claw servo control motor is arranged on the grab claw mounting plate, and a two-way lead screw is arranged on the lower surface of the grab claw mounting plate; and the two grab claw fixing arms are driven by the two-way screw, and hook claws are arranged on the grab claw fixing arms. The mobile platform drives the grab claw to operate, a grab claw servo control motor drives the two-way lead screw, and the two-way lead screw drives the grab claw fixing arms to gather together or stretch, so that the hook claws clamp or loosen workpieces, control is easy and precision is high; and the regulating air cylinder moves, so that a welding angle can be easily regulated.
Description
Technical field
The present invention relates to Intelligent welding technical field, more particularly, it relates to a kind of cantilever welding module.
Background technology
With the popularization of electronic product, electron product circuit plate weld technology has also obtained quick development；At present to electricity
Welding is carried out on the plate of road drives circuit board to weld through tin stove using selection weldering or track；The former selects single-point or multiple spot welding
Connect, platform drives the mode of tin stove movement, welding efficiency is low；Latter dimmable's parameter is few, it is difficult to tackle complicated circuit plate weld.
The content of the invention
The technical problem to be solved in the present invention is, for the drawbacks described above of prior art, there is provided one kind is easy to intelligent
Control, low cost, control accuracy are high and can be to the cantilever of angle of inclination precise control welding module.
The technical solution adopted for the present invention to solve the technical problems is：
Construct a kind of cantilever welding module, including import and export are plugged into platform, mobile platform, gripper and tin stove module；Wherein,
The mobile platform drives the gripper motion when working；Also include connecting the gripper connection of the mobile platform and the gripper
Plate；The gripper includes gripper installing plate；The gripper connecting plate lower end side is rotated by gripper rotary shaft and is grabbed described in connection
Pawl installing plate, opposite side are provided with regulation cylinder；It is provided with the gripper connecting plate and rotates with the regulation cylinder outer surface
The bearing of connection；Be provided with the gripper installing plate cylinder connecting seat that the rotation of cylinder movable end is connected is adjusted with described；Institute
State and on gripper installing plate, be provided with gripper servo control motor, lower surface is provided with Bidirectional-screw；Also include by the two-way silk
Two gripper fixed arms that bar drives, are provided with hook on the gripper fixed arm.
Cantilever of the present invention welds module, wherein, the platform of plugging into of importing and exporting includes feed arrangement and discharging dress
Put；The feed arrangement includes feeding belt, two first supports for supporting circuit board two ends and adjusts two described first
First Width adjusting device of set spacing；The drawing mechanism include discharging band, for supporting two of the circuit board two ends the
Second Width adjusting device of two second support spacing of two supports and regulation.
Cantilever of the present invention welds module, wherein, the hook is provided with least two on the gripper fixed arm
It is individual；The hook includes claw hook and linkage section；One side surface of the linkage section is provided with L-shaped hanging groove, and another side surface is provided with
The screw connected with the hanging groove；Also include the gripper lock handle coordinated with the screw；Arrange on the gripper fixed arm
There is the groove coordinated with the hanging groove.
Cantilever of the present invention welds module, wherein, it is additionally provided with the gripper installing plate and the Bidirectional-screw
The double-slider line slide rail of cooperation.
Cantilever of the present invention welds module, wherein, the mobile platform includes X-axis frame, Y-axis frame and Z axis frame；It is described
Y-axis frame prolongs X-axis motion on the X-axis frame；The Z axis frame prolongs Y-axis motion on the Y-axis frame；It is provided with the Z axis frame
The gripper connecting plate is driven to prolong the driving means of Z axis motion.
Cantilever of the present invention welds module, wherein, the X-axis frame include X-axis servo motor, belt, X-axis slide block and
The multiple limit sensors coordinated with the X-axis slide block；X-axis drag chain is additionally provided with the X-axis frame；The Y-axis frame includes Y-axis
Servo motor, Y-axis screw mandrel, Y-axis slide block and Y-axis drag chain；The driving means include that Z axis servo motor, Z axis screw mandrel and Z axis are slided
Block；The Z axis frame is additionally provided with Z axis drag chain and drag chain installing plate；The gripper connecting plate is fixedly connected with the Z axis slide block.
Cantilever of the present invention welds module, wherein, brake system is provided with the Z axis servo motor.
Cantilever of the present invention welds module, wherein, the tin stove module includes tin stove, bracing frame and support base；Institute
State and in tin stove, be provided with heat-generating pipe and spray tin impeller；The tin end furnace is provided with the afterbody motor for driving the spray tin impeller；
The support base upper surface is provided with the slide rail slided for support frame as described above, and lower surface is provided with multiple castor pin cups.
Cantilever of the present invention welds module, wherein, bracket is provided with support frame as described above, drives the bracket upper and lower
The screw mandrel up and down and upper and lower screw mandrel motor of operation；Before and after's screw mandrel is provided with the bracket and screw mandrel motor in front and back.
Cantilever of the present invention welds module, wherein, the bracket side wall arranges position sensor；Support frame as described above
Side wall is provided with sensor block corresponding with the position sensor.
The beneficial effects of the present invention is：Gripper operation, gripper servo control motor is driven to drive double by mobile platform
To screw mandrel, Bidirectional-screw drives gripper fixed arm to be gathered or opened so that hook is clamped or unclamps workpiece, it is easy to control and
Control accuracy is high, and good operation stability, low cost, maintenance and installation are very convenient；Adjust cylinder and gripper connecting plate and grab
Pawl installing plate rotates connection, and gripper connecting plate is rotated with gripper installing plate and is connected, by adjusting cylinder moving, can be adjusted easily
Gripper installing plate angle of inclination, and then soldering angle purpose is adjusted after reaching grabbing workpiece, adjust easy to control, welding precision
It is high；Overall structure is simple, low cost.
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 in conjunction with accompanying drawing and reality
The invention will be further described to apply example, and drawings in the following description are only the section Example of the present invention, for this area
For those of ordinary skill, on the premise of not paying creative work, can be with according to these accompanying drawings acquisition other accompanying drawings：
Fig. 1 is the cantilever welding module mobile platform and gripper structural representation of present pre-ferred embodiments；
Fig. 2 is the cantilever welding module tin stove modular structure schematic diagram of present pre-ferred embodiments；
Fig. 3 is the cantilever welding modular structure schematic diagram of present pre-ferred embodiments.
Specific embodiment
In order that the purpose of the embodiment of the present invention, technical scheme and advantage are clearer, below in conjunction with present invention enforcement
Technical scheme in example carries out clear, complete description, it is clear that described embodiment is the section Example of the present invention, and
It is not all of embodiment.Based on embodiments of the invention, those of ordinary skill in the art are not before creative work is paid
The every other embodiment for being obtained is put, protection scope of the present invention is belonged to.
The cantilever welding module of present pre-ferred embodiments is as shown in figure 1, while connect refering to Fig. 2 and Fig. 3, including import and export
Refute platform (not identifying in figure), mobile platform 1, gripper 2 and tin stove module 4；Gripper 2 is driven to move when mobile platform 1 works；Also
Including connection mobile platform 1 and the gripper connecting plate 3 of gripper 2；Gripper 2 includes gripper installing plate 20；3 lower end one of gripper connecting plate
Side rotates connection gripper installing plate 20 by gripper rotary shaft 30, and opposite side is provided with regulation cylinder 31；Set on gripper connecting plate 3
It is equipped with and adjusts the bearing 32 that the rotation of 31 outer surface of cylinder is connected；It is provided with gripper installing plate 20 and adjusts 31 movable end of cylinder
Rotate the cylinder connecting seat 200 of connection；Gripper servo control motor 201 is provided with gripper installing plate 20, lower surface is provided with
Bidirectional-screw 202；Also include the two gripper fixed arms 203 driven by Bidirectional-screw 202, be provided with gripper fixed arm 203
Hook 204；Gripper 2 is driven to run by mobile platform 1, gripper servo control motor 201 drives Bidirectional-screw 202, two-way silk
Bar 202 drives gripper fixed arm 203 to be gathered or opened so that hook 204 is clamped or unclamps workpiece, it is easy to control and control
High precision, good operation stability, low cost, maintenance and installation are very convenient；Cylinder 31 is adjusted with gripper connecting plate 3 and gripper
Installing plate 20 rotates connection, and gripper connecting plate 3 is rotated with gripper installing plate 20 and is connected, and is moved by adjusting cylinder 31, can be light
20 angle of inclination of gripper installing plate is easily adjusted, and then soldering angle purpose is adjusted after reaching grabbing workpiece, adjust easy to control, weldering
Connect high precision；Overall structure is simple, low cost.
As shown in figure 3, import and export plugging into platform (not identifying in figure) including feed arrangement 5 and drawing mechanism 6；Feed arrangement
5 include feeding belt 50, two first supports 51 for supporting circuit board two ends and adjust the of two 51 spacing of first support
One Width adjusting device 52；Drawing mechanism 6 includes two second supports 61 discharged with 60, for supporting circuit board two ends and adjusts two
Second Width adjusting device 62 of 61 spacing of individual second support；Support width is adjusted by Width adjusting device, to coordinate different width
The circuit board of degree is supported, strong adaptability and good processing stability.
As shown in figure 1, hook 204 is provided with least two on gripper fixed arm 203；Hook 204 includes 205 He of claw hook
Linkage section 206；206 1 side surface of linkage section is provided with L-shaped hanging groove 207, and another side surface is provided with the spiral shell connected with hanging groove 207
Hole 208；Also include the gripper lock handle 209 coordinated with screw 208；It is provided with gripper fixed arm 203 and coordinates with hanging groove 207
Groove 210；Coordinated with groove 210 by hanging groove 207 and slided, gripper lock handle 209 is screwed and pushed against with the cooperation of screw 208
203 side surface of gripper fixed arm is fixed, can 204 position of quick regulation hook, flexibility is high.
As shown in figure 1, the double-slider line slide rail 211 coordinated with Bidirectional-screw 202 on gripper installing plate 20, is additionally provided with,
Guidance quality is good, is less prone to loosening or shifts, and clamping stability is strong.
As shown in figures 1 and 3, mobile platform 1 includes X-axis frame 10, Y-axis frame 11 and Z axis frame 12；Y-axis frame 11 is in X-axis frame 10
On prolong X-axis motion；Z axis frame 12 prolongs Y-axis motion on Y-axis frame 11；Driving gripper connecting plate 3 is provided with Z axis frame 12 and prolongs Z axis fortune
Dynamic driving means 120；Gripper 2 is driven to prolong Z-direction motion on Z axis frame 12 by driving means 120, Z axis frame 12 is in Y-axis
Prolong Y-axis motion on frame 11, Y-axis frame 11 prolongs X-axis motion on X-axis frame 10, and 2 motion control of gripper rationally, is easy to precise control.
As shown in figure 1, X-axis frame 10 include X-axis servo motor 100, belt 101, X-axis slide block 102 and with X-axis slide block 102
The multiple limit sensors 103 for coordinating；Spacing and sensing is carried out by limit sensors 103, X-axis servo motor 100 drives
Belt 101 is moved, and belt 101 drives X-axis slide block 102 to move；X-axis drag chain 104 is additionally provided with X-axis frame 10；Y-axis frame 11 includes
Y-axis servo motor 110, Y-axis screw mandrel 111, Y-axis slide block 112 and Y-axis drag chain 113；Driving means 120 include Z axis servo motor
121st, Z axis screw mandrel 122 and Z axis slide block 123；Z axis frame 12 is additionally provided with Z axis drag chain 124 and drag chain installing plate 125；Gripper connects
Plate 3 is fixedly connected with Z axis slide block 123；The operation of X-axis slide block 102 is oriented to and is protected, regulation side by X-axis drag chain 104
Just and control accuracy is high, the position control degree of accuracy is high, and while the strong control accuracy of stability is high, equipment protection effect is good；By Y
Axle servo motor 110 drives Y-axis screw mandrel 111 to move, and Y-axis screw mandrel 111 drives Y-axis slide block 112 to run, while Y-axis drag chain 113 enters
Row is oriented to and protects, and while the strong control accuracy of stability is high, equipment protection effect is good；Z axis are driven by Z axis servo motor 121
Screw mandrel 122, Z axis screw mandrel 122 drive Z axis slide block 123 to run, while Z axis drag chain 124 is oriented to and is protected, stability is controlled by force
While high precision processed, equipment protection effect is good.
As depicted in figs. 1 and 2, be provided with brake system (not shown) on Z axis servo motor 121, welding when pair
Workpiece is controlled with 4 distance of tin stove module, effectively prevents touch situations.
As shown in Figures 2 and 3, tin stove module 4 includes tin stove 40, bracing frame 41 and support base 42；It is provided with tin stove 40
Heat-generating pipe (not shown) and spray tin impeller (not shown)；40 end of tin stove is provided with driving spray tin impeller (in figure not
Show) afterbody motor 400；42 upper surface of support base is provided with the slide rail 420 slided for bracing frame 41, and lower surface is provided with
Multiple castor pin cups 421；Spray tin impeller (not shown) is driven to carry out spray tin by afterbody motor 400, spray tin mouth can be accomplished
Greater depth, sprays tin efficiency high；Drive tin stove 40 to prolong slide rail 420 on support base 42 by bracing frame 41 to slide, be easy to tin stove
40 assemblings and maintenance；By castor pin cup 421, facilitate removing, assemble and safeguarding for tin stove 40.
As shown in Figures 2 and 3, bracket 410 is provided with bracing frame 41, the screw mandrel up and down that runs about 410 of bracket is driven
411 and upper and lower screw mandrel motor 412；Before and after's screw mandrel 413 is provided with bracket 410 and screw mandrel motor 414 in front and back；Pass through
Screw mandrel motor 414 and screw mandrel 413 drives tin stove 40 to move forward and backward in front and back in front and back, upper and lower screw mandrel motor 412 and up and down
Screw mandrel 411 drives bracket to run about 410, very convenient to the position adjustments of tin stove 40 and degree of regulation is high, is easy to intellectuality
Control.
As shown in Figures 2 and 3,410 side wall of bracket arranges position sensor 415；41 side wall of bracing frame is provided with and position
Put 415 corresponding sensor block 416 of sensor；Effectively carry out spacing, prevent excessive displacement situation.
It should be appreciated that for those of ordinary skills, can be improved according to the above description or be converted,
And all these modifications and variations should all belong to the protection domain of claims of the present invention.
Claims (10)
1. a kind of cantilever welds module, including import and export are plugged into platform, mobile platform, gripper and tin stove module；Characterized in that,
The mobile platform drives the gripper motion when working；Also include connecting the gripper connection of the mobile platform and the gripper
Plate；The gripper includes gripper installing plate；The gripper connecting plate lower end side is rotated by gripper rotary shaft and is grabbed described in connection
Pawl installing plate, opposite side are provided with regulation cylinder；It is provided with the gripper connecting plate and rotates with the regulation cylinder outer surface
The bearing of connection；Be provided with the gripper installing plate cylinder connecting seat that the rotation of cylinder movable end is connected is adjusted with described；Institute
State and on gripper installing plate, be provided with gripper servo control motor, lower surface is provided with Bidirectional-screw；Also include by the two-way silk
Two gripper fixed arms that bar drives, are provided with hook on the gripper fixed arm.
2. cantilever according to claim 1 welds module, it is characterised in that import and export platform of plugging into includes charging dress
Put and drawing mechanism；The feed arrangement includes feeding belt, two first supports for supporting circuit board two ends and adjusts two
First Width adjusting device of the individual first support spacing；The drawing mechanism include discharging band, for supporting the circuit board two
Second Width adjusting device of two second support spacing of two second supports and regulation at end.
3. cantilever according to claim 1 welds module, it is characterised in that the hook is set on the gripper fixed arm
It is equipped with least two；The hook includes claw hook and linkage section；One side surface of the linkage section is provided with L-shaped hanging groove, opposite side
Surface is provided with the screw connected with the hanging groove；Also include the gripper lock handle coordinated with the screw；The gripper is solid
Determine on arm, to be provided with the groove coordinated with the hanging groove.
4. cantilever according to claim 1 welds module, it is characterised in that be additionally provided with the gripper installing plate and institute
State the double-slider line slide rail of Bidirectional-screw cooperation.
5. cantilever according to claim 1 welds module, it is characterised in that the mobile platform includes X-axis frame, Y-axis frame
With Z axis frame；The Y-axis frame prolongs X-axis motion on the X-axis frame；The Z axis frame prolongs Y-axis motion on the Y-axis frame；The Z
The driving means for driving the gripper connecting plate to prolong Z axis motion are provided with pedestal.
6. cantilever according to claim 5 welds module, it is characterised in that the X-axis frame includes X-axis servo motor, skin
Band, X-axis slide block and the multiple limit sensors coordinated with the X-axis slide block；X-axis drag chain is additionally provided with the X-axis frame；It is described
Y-axis frame includes Y-axis servo motor, Y-axis screw mandrel, Y-axis slide block and Y-axis drag chain；The driving means include Z axis servo motor, Z axis
Screw mandrel and Z axis slide block；The Z axis frame is additionally provided with Z axis drag chain and drag chain installing plate；The gripper connecting plate is slided with the Z axis
Block is fixedly connected.
7. cantilever according to claim 6 welds module, it is characterised in that be provided with brake on the Z axis servo motor
System.
8. cantilever according to claim 1 welds module, it is characterised in that the tin stove module includes tin stove, bracing frame
And support base；Heat-generating pipe and spray tin impeller are provided with the tin stove；The tin end furnace is provided with the driving spray tin impeller
Afterbody motor；The support base upper surface is provided with the slide rail slided for support frame as described above, and lower surface is provided with multiple pin
Caster cup.
9. cantilever according to claim 8 welds module, it is characterised in that bracket is provided with support frame as described above, is driven
Screw mandrel up and down and upper and lower screw mandrel motor that the bracket is run up and down；Before and after's screw mandrel is provided with the bracket and silk in front and back
Bar motor.
10. cantilever according to claim 9 welds module, it is characterised in that the bracket side wall is provided with position sensing
Device；Support frame as described above side wall is provided with sensor block corresponding with the position sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710007040.2A CN106513914A (en) | 2017-01-05 | 2017-01-05 | Cantilever welding module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710007040.2A CN106513914A (en) | 2017-01-05 | 2017-01-05 | Cantilever welding module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106513914A true CN106513914A (en) | 2017-03-22 |
Family
ID=58335234
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710007040.2A Pending CN106513914A (en) | 2017-01-05 | 2017-01-05 | Cantilever welding module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106513914A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109801442A (en) * | 2019-03-15 | 2019-05-24 | 上海赟迈科贸有限公司 | A kind of three shaft mechanical arm configurations for automatic bulk food seller |
| CN110682283A (en) * | 2019-11-01 | 2020-01-14 | 中核核电运行管理有限公司 | Rotatable emergency gripping device for cobalt isotope production element |
| CN112276402A (en) * | 2020-11-02 | 2021-01-29 | 岑佰丰 | Be used for batch gas meter box automatic weld to connect equipment |
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| CN205764332U (en) * | 2016-06-29 | 2016-12-07 | 四川海特亚美航空技术有限公司 | A kind of chip pin automatic tin coating device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| SU979102A1 (en) * | 1981-05-13 | 1982-12-07 | Государственный Проектно-Технологический Институт Деревообрабатывающего Станкостроения | Manipulator hand |
| JPH02260107A (en) * | 1989-03-31 | 1990-10-22 | Hitachi Electron Eng Co Ltd | Work turning-over device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109801442A (en) * | 2019-03-15 | 2019-05-24 | 上海赟迈科贸有限公司 | A kind of three shaft mechanical arm configurations for automatic bulk food seller |
| CN110682283A (en) * | 2019-11-01 | 2020-01-14 | 中核核电运行管理有限公司 | Rotatable emergency gripping device for cobalt isotope production element |
| CN112276402A (en) * | 2020-11-02 | 2021-01-29 | 岑佰丰 | Be used for batch gas meter box automatic weld to connect equipment |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20180730 Address after: 518000 Guangdong Shenzhen Baoan District Songgang Street East community six Tian 1 Road office building Applicant after: Shenzhen Hao Bao Technology Co., Ltd. Address before: 518000 2 floor, C building, Huanggang Ling Industrial Zone, Baoan District Xixiang street, Shenzhen, Guangdong. Applicant before: Shenzhen TDK Electronic Equipment Co., Ltd. |
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Application publication date: 20170322 |