CN109385594B - Robot arm for tin coating of outer conductor of SMP connector and tin coating method - Google Patents
Robot arm for tin coating of outer conductor of SMP connector and tin coating method Download PDFInfo
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- CN109385594B CN109385594B CN201811257479.1A CN201811257479A CN109385594B CN 109385594 B CN109385594 B CN 109385594B CN 201811257479 A CN201811257479 A CN 201811257479A CN 109385594 B CN109385594 B CN 109385594B
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- gripper
- tin
- smp connector
- outer conductor
- pot
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- C—CHEMISTRY; METALLURGY
- C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
- C23C—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; SURFACE TREATMENT OF METALLIC MATERIAL BY DIFFUSION INTO THE SURFACE, BY CHEMICAL CONVERSION OR SUBSTITUTION; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL
- C23C2/00—Hot-dipping or immersion processes for applying the coating material in the molten state without affecting the shape; Apparatus therefor
- C23C2/04—Hot-dipping or immersion processes for applying the coating material in the molten state without affecting the shape; Apparatus therefor characterised by the coating material
- C23C2/08—Tin or alloys based thereon
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- C—CHEMISTRY; METALLURGY
- C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
- C23C—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; SURFACE TREATMENT OF METALLIC MATERIAL BY DIFFUSION INTO THE SURFACE, BY CHEMICAL CONVERSION OR SUBSTITUTION; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL
- C23C2/00—Hot-dipping or immersion processes for applying the coating material in the molten state without affecting the shape; Apparatus therefor
- C23C2/003—Apparatus
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Materials Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Robotics (AREA)
- Manufacturing Of Electrical Connectors (AREA)
- Connections Effected By Soldering, Adhesion, Or Permanent Deformation (AREA)
Abstract
The invention discloses a robot arm for tin coating of an outer conductor of an SMP (symmetrical multi-processing) connector and a tin coating method, wherein the gripper comprises a first gripper and a second gripper which are arranged in an inverted crossing manner, the head ends of the first gripper and the second gripper are respectively connected with the tail end of the robot arm, a space for the first gripper to penetrate through is arranged in the second gripper, the head ends of the first gripper and the second gripper are clamped, the tail ends of the first gripper and the second gripper are opened, the head ends of the first gripper and the second gripper are opened, the tail ends of the first gripper and the second gripper are clamped, clamping pieces are respectively connected with the tail ends of the first gripper and the second gripper, the inner side of the clamping piece of one gripper is of a boss or groove structure, and the inner side of the clamping piece of the other gripper is provided with a blind hole. The gripper of the robot arm consists of an inverse cross reverse structure, and the tail part of the inverse cross reverse structure is respectively provided and fixed with a detachable and replaceable plastic structure for clamping an SMP connector.
Description
Technical Field
The invention relates to a preparation process of electric equipment, in particular to a robot arm for tin coating of an outer conductor of an SMP connector and a tin coating method.
Background
With the increasing demand of modern electronic equipment on modularization, light weight and high integration, the SMP series radio frequency connector as a novel blind-mate radio frequency coaxial connector has the advantages of small volume, light weight, superior anti-seismic performance, good radio frequency performance, rapid assembly, wide working frequency band and the like, and is widely applied to high-density assembly occasions in the fields of aerospace and electronics, such as blind plugging application in microwave components of military radar electronic equipment, and the SMP series radio frequency connector embodies obvious application advantages compared with common interconnection modes of threaded connectors, cable components and the like.
The SMP connector has various structures such as wall-through installation, flange installation, glass sintering and the like, and can meet the requirements of different use conditions of customers. When the SMP connector is installed in a narrow space through a wall with a component, the outer conductor of the SMP connector is generally welded or screwed into the installation hole. The welding structure can obtain better grounding effect, mechanical property and sealing property, thereby being more suitable for high-frequency-band and high-density use environments. Meanwhile, in order to better realize high-frequency signal transmission of the SMP connector, higher requirements are also put forward on the grounding welding quality, the assembling precision and the like of the outer conductor of the SMP connector.
Aiming at high-reliability electronic products in the fields of military industry, aerospace and the like, in order to avoid the performance reduction of welding spots caused by 'gold brittleness', tin coating and gold removing treatment is definitely provided before the gold-plated components are assembled and welded. In sections 6.7.2.1 and 4.3.6 of the QJ 3267-2006 standard, there are provisions for: "the first tin-plating treatment is required for gold-plating layer with thickness less than 2.5 μm, and the second tin-plating treatment is required for gold-plating layer with thickness more than 2.5 μm". Most solder type SMP connectors are gold plated, so the outer conductor must be tin plated to remove gold before soldering.
Currently, the main methods for tin coating in the industry are as follows: the manual tin coating, the semi-automatic and full-automatic tin coating equipment are mainly suitable for tin coating of pins of components or pins of connectors. The tin-coating part of the outer conductor of the SMP connector consists of two step cylindrical surfaces, and the tin-coating thickness of the cylindrical surfaces is as uniform as possible, and the inner cavity of the outer conductor cannot be tin-coated to cause short circuit or influence later assembly during tin coating. Currently, due to the structural particularity of SMP connectors, the tin coating of the outer conductor can only be performed manually: the electric iron is enameled with tin or the tin pot is enameled with tin, the requirement on the operation skill of a worker is high, after the tin is enameled, a tin absorbing belt is usually adopted to absorb the flat cylindrical surface to improve the uniformity of the tin-enameled thickness, only one connector can be completed at one time, and the efficiency is low. In addition, parameters such as tin coating time, tin coating temperature and tin coating thickness are not easy to control, so that the tin coating consistency is poor.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the existing tin plating method has heavy dependence on personnel operation level and cannot ensure stable quality, and a robot arm and a tin plating method for tin plating of an outer conductor of an SMP connector are provided.
The invention solves the technical problems through the following technical scheme, and the invention comprises a gripper positioned at the tail end of a robot arm, wherein the gripper comprises a first gripper and a second gripper which are arranged in an inverted crossing manner, the head ends of the first gripper and the second gripper are respectively connected with the tail end of the robot arm, a space for the first gripper to penetrate through is arranged in the second gripper, the head ends of the first gripper and the second gripper are clamped, the tail ends of the first gripper and the second gripper are opened, the head ends of the first gripper and the second gripper are opened, the tail ends of the first gripper and the second gripper are clamped, clamping pieces are respectively connected with the tail ends of the first gripper and the second gripper, the inner side of the clamping piece of one gripper is of a boss or groove structure, and the inner side of the clamping piece of the other gripper is provided with a blind hole.
In a preferred embodiment of the present invention, the diameter of the boss inside the holder is smaller than or equal to the diameter of the inner cavity of the outer conductor of the SMP connector.
The groove on the inner side of the clamping piece is matched with the outer conductor of the SMP connector and used for clamping the outer conductor of the SMP connector.
The diameter and the depth of the blind hole are larger than those of an SMP connector pin, and the boss or the groove is on the same horizontal line with the center of the blind hole.
As one preferable mode of the present invention, the clamping member is made of high temperature resistant engineering plastics.
The utility model provides an use robot arm's enameling tin device still includes enameling tin pot, the upper portion of enameling tin pot is equipped with the baffle, be provided with hot-blast import on the baffle, set up the opening that is used for enameling tin material business turn over on the baffle.
The hot air tin blowing device is arranged on the upper half part of the tin-enameling pot, and is kept in an open state in the whole tin enameling process, so that on one hand, the air above the liquid level of the tin-enameling pot can be ensured to have a certain temperature, and the preheating and heat preservation effects are achieved; on the other hand, the connector can be ensured to rapidly reach the air port after leaving the liquid level of the tin-lined tin pot, and the solder is prevented from being solidified on the surface of the outer conductor. The hot air tin blowing device comprises a temperature control part, the air quantity is enough, the outer wall of the tin-enameled pot has a wind shielding effect, on one hand, the temperature drop of hot air can be reduced, and on the other hand, splashed molten solder can be collected.
The method for tin coating of the outer conductor of the SMP connector by using the tin coating device comprises the following steps:
(1) the SMP connector is transversely clamped by a hand of a robot arm, and only the tin-coating part of the outer conductor of the SMP connector is exposed outside;
(2) cleaning the SMP connector;
(3) coating soldering flux on the surface of an outer conductor tin coating part of the SMP connector;
(4) preheating an outer conductor tin coating part of the SMP connector coated with the soldering flux;
(5) placing the preheated SMP connector into a gold tin pot for tin coating, wherein the temperature of the tin pot is 230-270 ℃ and the time is not more than 2 s;
(6) placing the gold-removed SMP connector into a tin-coating tin pot for tin coating, wherein the temperature of the tin pot is 230-270 ℃, and the time is not more than 2 s;
(7) blowing tin by hot air after tin coating is finished;
(8) the SMP connector is cleaned.
In the step (1), the SMP connector is transversely placed, the robot arm grips the SMP connector by using an inverted cross structure, bosses and blind holes of the clamping piece correspond to inner cavities of the outer conductors and contact pins of the SMP connector one by one, and only tin-plated parts of the outer conductors are exposed outside.
In the step (7), the hot air temperature of the tin-lined tin pot is set to be 300-400 ℃, the hot air pressure is 0.3-0.5 MPa, and the temperature of the air above the liquid level of the tin-lined tin pot is 150-200 ℃; after tin coating is finished, the SMP connector is quickly placed on a hot air inlet 30-50 mm away from an air port when leaving the liquid surface of a tin coating pot, tin blowing is carried out by rotating a hand grasp shaft of a robot arm by 30-90 ℃, and the air blowing time of the SMP connector is 5-15 s.
The method disclosed by the invention is used for finishing the tin coating of the outer conductor of the SMP connector by adopting a mode of combining transverse clamping and hot air tin blowing aiming at the structural characteristics that the tin coating part of the outer conductor of the SMP connector is a step cylindrical surface, one end of the inner cavity of the outer conductor is an inner cavity of the outer conductor, the other end of the inner conductor of a contact pin is an inner conductor of the contact pin and the like and the tin coating requirements that the inner cavity of the outer conductor cannot be tin coated and the tin coating thickness.
Compared with the prior art, the invention has the following advantages: the gripper of the robot arm consists of an inverse cross reverse structure, and the tail part of the inverse cross reverse structure is respectively provided and fixed with a detachable and replaceable plastic structure for clamping an SMP connector. The inner cavity and the contact pins of the outer conductor are effectively protected by a transverse clamping mode, the redundant solder of the tin-lined part of the outer conductor is rapidly blown off by effectively controlling the blowing temperature and the air quantity of the hot air tin-blowing device at the upper half part of the tin-lined tin pot, the tin-lining and gold-removing effect is better achieved, and the problems of low tin-lining efficiency, poor tin-lining consistency and the like of the outer conductor of the SMP connector are solved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
reference numbers in the figures: 1-coating cleaning device, 2-preheating device, 3-machine body, 4-robot big arm, 5-robot small arm, 6-hand grasping, 7-clamping piece, 8-gold tin removing pot, 9-tin coating pot, 10-clapboard, 11-sensor, 12-temperature display, 13-heater, 14-airflow stabilizer and 15-blower;
FIG. 2 is a schematic view of the clip assembly;
FIG. 3 is an enlarged view of portion A of FIG. 2;
fig. 4 is an enlarged view of a portion B in fig. 2.
Detailed Description
The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.
As shown in fig. 1 to 4, the tin coating device of the embodiment includes a coating cleaning device 1, a preheating device 2, a machine body 3, a gold tin removing pot 8 and a tin coating pot 9, which are sequentially arranged, a robot large arm 4 is hinged on the machine body 3, two ends of a robot small arm 5 are respectively hinged with the robot large arm 4 and a hand grab 6, and a clamping piece 7 is detachably mounted at the tail end of the hand grab 6; a partition plate 10 is arranged at the upper part of the tin-enameled tin pot 9, a hot air inlet is arranged on the partition plate 10, an opening for tin-enameled materials to enter and exit is formed in the partition plate 10, a sensor 11 is arranged on the hot air inlet and used for detecting the temperature of hot air, a temperature display 12 is used for displaying the temperature, a heater 13 is used for heating air, and air flow generated by an air blower 15 is transmitted into the heater 13 through an air flow stabilizer 14;
the gripper 6 comprises a first gripper 61 and a second gripper 62 which are arranged in an anti-crossing manner, the head ends of the first gripper 61 and the second gripper 62 are respectively connected with the tail end of a robot arm, a space for the first gripper 61 to penetrate is arranged in the second gripper 62, the head ends of the first gripper 61 and the second gripper 62 are clamped, then the tail end is opened, the head ends of the first gripper 61 and the second gripper 62 are opened, then the tail end is clamped, the tail ends of the first gripper 61 and the second gripper 62 are respectively connected with a clamping piece 7, the inner side of the clamping piece 7 of one gripper is of a boss or groove structure, and the inner side of the clamping piece 7 of the other gripper is provided with a blind hole.
The diameter of the boss on the inner side of the clamping piece 7 is smaller than or equal to the diameter of the inner cavity of the outer conductor of the SMP connector.
The groove on the inner side of the clamping piece 7 is matched with the outer conductor of the SMP connector and used for clamping the outer conductor of the SMP connector. The groove design can protect the outer conductor edge locally.
The diameter and the depth of the blind hole are larger than those of an SMP connector pin, and the boss or the groove is on the same horizontal line with the center of the blind hole. The connector is ensured to be installed in place, tin is not fed into the inner cavity of the outer conductor, and the contact pin does not have tin absorption.
The clamping piece 7 is made of high-temperature-resistant engineering plastics, and polyimide is selected in the embodiment.
The embodiment takes a gsmp (m) -JHD288 type connector as an example, and gives a specific implementation and an operation process of the SMP connector outer conductor tin-coating method of the present invention, which includes the following steps:
(1) the GSMP (M) -JHD288 type connector is transversely clamped by a hand-held 6, wherein the diameter of an inner cavity of an outer conductor is 3.6mm, the diameter of an inner conductor is 0.38mm, the length of the inner conductor is 1.8mm, the diameter of a lug boss of a tail plastic plate of the hand-held 6 reverse crossing reverse structure is 2.6-3.5 mm, the diameter of a blind hole is 0.5-1.5 mm, and the depth is more than or equal to 2 mm;
(2) putting the GSMP (M) -JHD288 type connector into a coating and cleaning device 1 for cleaning, wherein the cleaning solution is absolute ethyl alcohol or isopropanol solvent;
(3) uniformly coating a layer of soldering flux on the surface of the outer conductor of the cleaned GSMP (M) -JHD288 type connector by using a coating and cleaning device 1, wherein the soldering flux is R type or RMA type soldering flux;
(4) placing the GSMP (M) -JHD288 type connector coated with the soldering flux into a preheating device 2 for preheating at the temperature of 80-100 ℃ for 10-30 s;
(5) placing the preheated GSMP (M) -JHD288 type connector into a gold and tin removing pot 8 for tin coating, wherein the temperature of the gold and tin removing pot 8 is 230-270 ℃, the temperature of the tin removing pot is 260 ℃ in the embodiment, the time is not more than 2s, and the speed of placing and taking out the connector is as uniform as possible;
(6) placing the GSMP (M) -JHD288 connector after gold removal into a tin-enameled pot 9 for tin enameling, wherein the temperature of the tin-enameled pot 9 is 230-270 ℃, the temperature of the tin pot can be 260 ℃ in the embodiment, the time is not more than 2s, and the speed for placing and taking out the connector is as constant as possible;
(7) a hot air device of the tin-enameled pot 9 is started in advance, the air blowing temperature is set to be 300-400 ℃, the hot air pressure is set to be 0.3-0.5 MPa, and the temperature of air above the liquid level of the tin-enameled pot 9 is 180 ℃ at most; after tin coating is finished, the GSMP (M) -JHD288 type connector is quickly placed at a position 35mm away from an air port of a hot air tin blowing device to blow tin when leaving the liquid surface of a tin coating tin pot 9, and the speed of placing and taking out the connector is as constant as possible; in the tin blowing process, the hand grip 6 rotates around the shaft by 60 ℃; preferably, the blowing pressure of the connector is 0.4MPa, the blowing time is not more than 10s, and the blowing temperature is 350 ℃.
(8) And (3) putting the GSMP (M) -JHD288 connector after tin coating and gold removal into a coating and cleaning device 1 for cleaning, wherein the cleaning solution is absolute ethyl alcohol or isopropanol solvent.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. The tin coating method for the outer conductor with the SMP connector is characterized in that a tin coating device comprises a robot arm, the robot arm comprises a gripper positioned at the tail end of the robot arm, the gripper comprises a first gripper and a second gripper which are arranged in an inverted crossing manner, the head ends of the first gripper and the second gripper are respectively connected with the tail end of the robot arm, a space for the first gripper to penetrate through is formed in the second gripper, the head ends of the first gripper and the second gripper are clamped, the tail ends of the first gripper and the second gripper are opened, the head ends of the first gripper and the second gripper are opened, the tail ends of the first gripper and the second gripper are clamped, clamping pieces are respectively connected with the tail ends of the first gripper and the second gripper, the inner side of the clamping piece of one gripper is of a boss or groove structure, and the inner side of the clamping piece of the other gripper is provided with a blind hole;
the tin enameling device also comprises a tin enameling pot, wherein a partition plate is arranged at the upper part of the tin enameling pot, a hot air inlet is formed in the partition plate, and an opening for the tin enameling material to enter and exit is formed in the partition plate;
the tin coating method by using the tin coating device comprises the following steps:
(1) the SMP connector is transversely clamped by a hand of a robot arm, and only the tin-coating part of the outer conductor of the SMP connector is exposed outside;
(2) cleaning the SMP connector;
(3) coating soldering flux on the surface of an outer conductor tin coating part of the SMP connector;
(4) preheating an outer conductor tin coating part of the SMP connector coated with the soldering flux;
(5) placing the preheated SMP connector into a gold tin pot for tin coating, wherein the temperature of the tin pot is 230-270 ℃ and the time is not more than 2 s;
(6) placing the gold-removed SMP connector into a tin-coating tin pot for tin coating, wherein the temperature of the tin pot is 230-270 ℃, and the time is not more than 2 s;
(7) blowing tin by hot air after tin coating is finished;
(8) the SMP connector is cleaned.
2. The tin enameling method for the outer conductor of the SMP connector according to claim 1, wherein the diameter of the boss on the inner side of the clamping piece is smaller than or equal to the diameter of the inner cavity of the outer conductor of the SMP connector.
3. The method of claim 1, wherein the grooves on the inner side of the clamping piece are matched with the outer conductors of the SMP connector for clamping the outer conductors of the SMP connector.
4. The tin enameling method for the outer conductor of the SMP connector according to the claim 1, wherein the diameter and depth of the blind hole are larger than the diameter and length of the pin of the SMP connector, and the boss or the groove is on the same horizontal line with the center of the blind hole.
5. The tin enameling method for the outer conductor of the SMP connector according to claim 1, wherein the clamping piece is made of high temperature resistant engineering plastic.
6. The tin coating method for the outer conductor with the SMP connector as claimed in claim 1, wherein in step (1), the SMP connector is placed horizontally, the hand grip of the robot arm grips the SMP connector by using an inverted cross structure, wherein the bosses and the blind holes of the clamping pieces correspond to the inner cavity of the outer conductor and the pins of the SMP connector one by one, and only the tin coating part of the outer conductor is exposed outside.
7. The tin enameling method for the outer conductor of the SMP connector according to the claim 1, wherein in the step (7), the temperature of hot air in a tin enameling pot is set to 300-400 ℃, the pressure of the hot air is set to 0.3-0.5 MPa, and the temperature of air above the liquid level of the tin enameling pot is set to 150-200 ℃; after tin coating is finished, the SMP connector is quickly placed on a hot air inlet 30-50 mm away from an air port when leaving the liquid surface of a tin coating pot, tin blowing is carried out by rotating a hand grasp shaft of a robot arm by 30-90 ℃, and the air blowing time of the SMP connector is 5-15 s.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811257479.1A CN109385594B (en) | 2018-10-26 | 2018-10-26 | Robot arm for tin coating of outer conductor of SMP connector and tin coating method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811257479.1A CN109385594B (en) | 2018-10-26 | 2018-10-26 | Robot arm for tin coating of outer conductor of SMP connector and tin coating method |
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| CN109385594A CN109385594A (en) | 2019-02-26 |
| CN109385594B true CN109385594B (en) | 2020-09-25 |
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| CN110571616A (en) * | 2019-09-16 | 2019-12-13 | 上海航天电子有限公司 | Gold-removing tin-coating process method for SMP (symmetrical multi-processing) electric connector |
| CN112226718B (en) * | 2020-08-31 | 2022-08-26 | 山东航天电子技术研究所 | Full-automatic tin coating device |
| CN112247302A (en) * | 2020-10-14 | 2021-01-22 | 天津津航计算技术研究所 | Automatic tin-coating, tin-absorbing and gold-removing process method for gold-plated electric connector |
| CN113894839B (en) * | 2021-11-17 | 2024-01-30 | 中国电子科技集团公司第三十八研究所 | Robot arm for chemical plating batch production |
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| CN201801571U (en) * | 2010-08-20 | 2011-04-20 | 深南电路有限公司 | Hot air leveling machine |
| CN205835415U (en) * | 2016-08-03 | 2016-12-28 | 福州达益丰机械制造有限公司 | A kind of palletizing mechanical arm |
| CN108155535B (en) * | 2017-12-05 | 2019-10-18 | 北京空间机电研究所 | Minute hand electrical connector protection device and process of tin method is warded off between a kind of plate |
| CN108673543B (en) * | 2018-05-11 | 2024-05-10 | 河南纵横精工机械科技有限公司 | Bottle and can grabbing device |
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