CN109822175B - Automatic welding assembly line - Google Patents

Automatic welding assembly line Download PDF

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Publication number
CN109822175B
CN109822175B CN201910024457.9A CN201910024457A CN109822175B CN 109822175 B CN109822175 B CN 109822175B CN 201910024457 A CN201910024457 A CN 201910024457A CN 109822175 B CN109822175 B CN 109822175B
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output
tin
working
transverse
feeding
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CN109822175A (en
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金新元
何涛
叶忻泉
梁之栋
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Wenzhou University of Technology
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Wenzhou University Oujiang College
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Abstract

The invention relates to an automatic welding assembly line, which comprises a rack assembly, a feeding conveying device arranged on the rack assembly, an input device arranged at the output end of the feeding conveying device, a main conveying belt arranged on one side of the input device, and a tin dispensing device, a precooling device, a shooting device, a tin soldering device, a cooling device, a trimming device and a discharging device which are sequentially arranged on the main conveying belt; at least three working manipulators for clamping electrical components are arranged on one side of the main conveyor belt. The invention has reasonable design, compact structure and convenient use.

Description

Automatic welding assembly line
Technical Field
The invention relates to an automatic welding assembly line.
Background
Laser soldering is used as a supplement of a traditional welding mode and is widely applied to the 3C electronic industry. Solder paste is also widely used as a solder for soldering. Solder paste is usually dispensed on the surface of a welding point through a pneumatic dispensing valve by adopting an independent motion mechanism, and then the solder paste is placed on a welding workbench for welding. The tin-dotting method has the advantages of poor tin-dotting consistency, complex process and low automation degree, and the tin-dotting and welding effects are easily influenced by position deviation, so that the welding yield is low and the consistency is poor.
Disclosure of Invention
The technical problem to be solved by the invention is to provide an automatic welding production line and a welding process; the technical problems to be solved and the advantages to be achieved are set forth in the description which follows and in the detailed description of the embodiments.
In order to solve the problems, the technical scheme adopted by the invention is as follows:
an automatic welding assembly line comprises a rack assembly, a feeding conveying device arranged on the rack assembly, an input device arranged at the output end of the feeding conveying device, a main conveying belt arranged on one side of the input device, and a tin dispensing device, a precooling device, a shooting device, a tin soldering device, a cooling device, a trimming device and a discharging device which are sequentially arranged on the main conveying belt; .
At least three working manipulators for clamping electrical components are arranged on one side of the main conveyor belt.
As a further improvement of the above technical solution:
the feeding conveying device comprises a feeding conveying belt, feeding righting rails, a feeding telescopic baffle and a feeding photoelectric sensor, wherein the feeding conveying belt is longitudinally arranged and used for conveying electrical components, the feeding righting rails are symmetrically and longitudinally arranged on two sides of the feeding conveying belt, the feeding telescopic baffle is transversely arranged on one of the feeding righting rails and driven by a cylinder and used for extending out to stop the electrical components from moving forwards on the feeding conveying belt, and the feeding photoelectric sensor is arranged at the output end of the feeding conveying belt.
The input device comprises an input transverse rack pushed by a cylinder to transversely move on a rack assembly, an input longitudinal beam horizontally arranged on the input transverse rack, an input longitudinal sliding seat driven by the cylinder to longitudinally move on the input longitudinal beam, an input lifting sliding seat arranged on the input longitudinal sliding seat in a lifting way, and an input mechanical claw arranged at the lower end of the input lifting sliding seat and used for clamping and taking electrical components at the terminal of the feeding conveying device and conveying the electrical components to the beginning end of the main conveying belt.
Driving rollers are arranged at two ends of the main conveying belt, and a tensioning roller driven by a cylinder is arranged in the middle of the main conveying belt;
the working manipulator comprises a working transverse sliding seat which is pushed by a cylinder to move transversely on the rack assembly, a working lifting sliding seat which is driven by the cylinder to lift on the working transverse sliding seat, a working rotating motor which is transversely arranged on the working lifting sliding seat, and a working mechanical claw which is arranged at the output end of the working rotating motor and used for clamping electrical elements on the main conveyor belt.
The tin soldering device has the same structure as the tin soldering device; the tin dispensing device comprises a tin dispensing machine body arranged on the rack assembly, a tin dispensing industrial camera arranged on the tin dispensing machine body, a tin dispensing transverse rack longitudinally arranged on the tin dispensing machine body, a tin dispensing longitudinal slide seat arranged on the tin dispensing transverse rack in a lifting manner, and a tin dispensing machine head arranged on the tin dispensing longitudinal slide seat;
the working manipulator is a tin-dispensing working manipulator arranged on one side of the tin-dispensing machine body.
The structure of the precooling device is the same as that of the cooling device; the precooling device comprises a cooling transverse rack which is transversely movably arranged on the rack assembly, a cooling longitudinal rack which is arranged on the cooling transverse rack, and a cooling fan head which is longitudinally and movably arranged on the cooling longitudinal rack;
the working mechanical arm is a cooling working mechanical arm arranged on one side of the cooling transverse rack.
The shooting device comprises a shooting transverse rack arranged on the rack assembly in a transverse moving manner, a shooting longitudinal rack arranged on the shooting transverse rack and a shooting CCD head arranged on the shooting longitudinal rack;
the working mechanical arm is a shooting working mechanical arm arranged on one side of the shooting transverse rack.
The trimming device comprises a transverse cleaning rack arranged on a rack assembly in a transverse moving mode, a six-axis cleaning mechanical arm arranged on the transverse cleaning rack, a cleaning grinding head arranged at the cantilever end of the six-axis cleaning mechanical arm, and a cleaning exhaust pipe arranged on one side of the cleaning grinding head;
the working manipulator is a cleaning working manipulator arranged on one side of the cleaning transverse rack.
The discharging device comprises an output longitudinal rack arranged on a rack assembly, an output longitudinal sliding seat driven by a cylinder to longitudinally slide on the output longitudinal rack, an output lifting sliding seat arranged on the output longitudinal sliding seat in a lifting mode, an output mechanical claw arranged at the lower end of the output lifting sliding seat, an output lengthening arm transversely arranged on the output lifting sliding seat, an output pressing punch vertically arranged on the output lengthening arm, an output pressing head movably arranged at the lower end of the output pressing punch, and an output spring arranged between the output pressing punch and the output pressing head.
An automatic welding process, comprising the following steps;
step one, building an automatic welding production line;
step two, feeding and conveying; by means of the feeding conveying device, firstly, electrical components are placed at the initial end of the feeding conveying belt through a mechanical arm or a manual work; then, the feeding conveyor belt sends the feeding conveyor belt to the tail end of the feeding conveyor belt; secondly, when the feeding photoelectric sensor senses an electrical component at the tail end, the feeding telescopic baffle extends out to block the follow-up electrical component on the feeding conveyor belt from advancing;
step three, feeding and inputting; by means of the input device, firstly, an input mechanical claw clamps an electrical element positioned at the tail end of the feeding conveyor belt; then, under the drive of the corresponding air cylinder, the mechanical claw is input to convey the material to the main conveying belt;
step four, tin is dotted; by means of the tin dotting device, firstly, a main conveyor belt drives an electrical element to come to a tin dotting station; then, the tin-coating working mechanical arm clamps and rotates the electrical element; thirdly, the tin dispensing machine head dispenses tin on the electrical appliance element; finally, the tin-dispensing mechanical arm places the electrical component after tin dispensing on the main conveyor belt;
step five, precooling; by means of the pre-cooling device, firstly, the main conveyor belt drives the electric appliance element to come to a pre-cooling station; then, the cooling working manipulator clamps and rotates the electrical component; thirdly, the cooling fan head cools the electrical appliance element by air; finally, the cooling working mechanical arm places the electric appliance element after air cooling on the main conveyor belt;
step six, shooting detection, namely, driving the electrical component to a shooting detection station by a main conveyor belt with the help of a shooting device; then, the shooting working manipulator clamps and rotates the electrical component; thirdly, shooting the electrical component by the shooting CCD head, and transmitting the shot picture to an upper computer; then, the upper computer processes the shot picture; then, controlling a soldering device to perform tin supplement soldering on the electrical element through a prefabricated program or manual programming according to the processed picture; finally, the shooting working manipulator places the electrical components after shooting detection on the main conveyor belt;
step seven, tin supplement welding, namely, by means of a tin welding device, firstly, driving an electrical element to a tin supplement welding station by a main conveyor belt; then, the working manipulator clamps and rotates the electrical element; thirdly, according to the program, the soldering device carries out tin supplement soldering on the electrical element; finally, the working manipulator places the electrical components after tin supplement welding on the main conveyor belt;
step eight, secondary air cooling, namely, by means of a cooling device, firstly, driving an electrical component to enter a secondary air cooling station by a main conveyor belt; then, the working manipulator clamps and rotates the electrical element; thirdly, secondary air cooling is carried out on the electrical appliance element by the cooling device; finally, the working manipulator places the electrical component after secondary air cooling on the main conveyor belt;
step nine, removing the redundant soldering tin, and by means of a finishing device, firstly, driving the electrical component to a soldering tin removing station by a main conveyor belt; then, the cleaning working manipulator clamps and rotates the electrical component; thirdly, the cleaning grinding head removes the redundant soldering tin for the electrical element, and meanwhile, the cleaning exhaust pipe absorbs the redundant soldering tin scraps; finally, the cleaning manipulator places the electrical components with the excessive soldering tin removed on a main conveyor belt;
step ten, outputting, namely, by means of a discharging device, firstly, driving an electrical appliance element to the tail end of a main conveying belt by the main conveying belt; then, the output mechanical claw clamps the electrical element; secondly, the output lower pressure head presses the upper part of the electrical element through self weight; thirdly, outputting a downward pressing punch to descend under the driving of the cylinder and punching holes at the corresponding position of the electrical element; finally, the output gripper grabs the electrical component off the main conveyor.
The advantages of the invention are not limited to this description, but are described in more detail in the detailed description for better understanding.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of a feeding conveyor of the present invention;
FIG. 3 is a schematic diagram of an input device according to the present invention;
FIG. 4 is a schematic structural diagram of a tin dispensing device according to the present invention;
FIG. 5 is a schematic diagram of a pre-cooling apparatus according to the present invention;
FIG. 6 is a schematic view of the structure of the photographing apparatus according to the present invention;
FIG. 7 is a schematic view of the configuration of the dressing apparatus of the present invention;
FIG. 8 is a schematic view of the structure of the discharging device of the present invention;
wherein: 1. an electrical component; 2. a frame assembly; 3. a feeding and conveying device; 4. an input device; 5. a main conveyor belt; 6. a tin dispensing device; 7. a pre-cooling device; 8. a photographing device; 9. a soldering device; 10. a cooling device; 11. a dressing device; 12. a discharging device; 13. a feeding conveyor belt; 14. feeding and righting the track; 15. a feeding telescopic baffle plate; 16. a feeding photoelectric sensor; 17. inputting a transverse frame; 18. inputting a longitudinal beam; 19. inputting a longitudinal sliding seat; 20. inputting a lifting slide seat; 21. inputting a mechanical claw; 22. a tin-dispensing working manipulator; 23. a working transverse sliding seat; 24. a working lifting slide seat; 25. a working rotating electrical machine; 26. a work machine claw; 27. a tin-on industrial camera; 28. tin dispensing transverse frame; 29. a longitudinal tin-dispensing sliding seat; 30. a tin dispensing machine head; 31. dotting a tin body; 32. cooling the transverse frame; 33. cooling the working manipulator; 34. cooling the longitudinal frame; 35. a cooling fan head; 36. shooting a transverse frame; 37. a shooting work manipulator; 38. shooting a longitudinal frame; 39. shooting a CCD head; 40. cleaning the working manipulator; 41. cleaning the transverse frame; 42. cleaning the six mechanical arms; 43. cleaning a grinding head; 44. cleaning an exhaust pipe; 45. outputting a longitudinal frame; 46. outputting a longitudinal sliding seat; 47. outputting a lifting slide seat; 48. an output gripper; 49. an output extension arm; 50. outputting a press punch; 51. an output spring; 52. and outputting the lower pressure head.
Detailed Description
As shown in fig. 1 to 8, the automatic welding line of the present embodiment includes a rack assembly 2, a feeding conveyor 3 disposed on the rack assembly 2, an input device 4 disposed at an output end of the feeding conveyor 3, a main conveyor 5 disposed at one side of the input device 4, and a tin dispensing device 6, a pre-cooling device 7, a shooting device 8, a soldering device 9, a cooling device 10, a trimming device 11, and a discharging device 12 sequentially disposed on the main conveyor 5; .
At least three working robots for holding the electrical components 1 are arranged on one side of the main conveyor 5.
The feeding conveying device 3 comprises a feeding conveying belt 13 which is longitudinally arranged and used for conveying the electrical component 1, feeding righting rails 14 which are symmetrically and longitudinally arranged on two sides of the feeding conveying belt 13, a feeding telescopic baffle 15 which is transversely arranged on one of the feeding righting rails 14, is driven by an air cylinder and is used for extending to block the electrical component 1 to move forwards on the feeding conveying belt 13, and a feeding photoelectric sensor 16 arranged at the output end of the feeding conveying belt 13.
The input device 4 comprises an input transverse frame 17 which is pushed by a cylinder to move transversely on the frame assembly 2, an input longitudinal beam 18 which is horizontally arranged on the input transverse frame 17, an input longitudinal slide 19 which is driven by the cylinder to move longitudinally on the input longitudinal beam 18, an input lifting slide 20 which is arranged on the input longitudinal slide 19 in a lifting way, and an input mechanical claw 21 which is arranged at the lower end of the input lifting slide 20 and is used for clamping the electric element 1 at the terminal end of the feeding conveying device 3 and carrying the electric element to the beginning end of the main conveying belt 5.
Driving rollers are arranged at two ends of the main conveyor belt 5, and a tensioning roller driven by a cylinder is arranged in the middle of the main conveyor belt 5;
the working manipulator comprises a working transverse sliding seat 23 which is pushed by an air cylinder to move transversely on the rack assembly 2, a working lifting sliding seat 24 which is driven by the air cylinder to lift on the working transverse sliding seat 23, a working rotating motor 25 which is transversely arranged on the working lifting sliding seat 24, and a working mechanical claw 26 which is arranged at the output end of the working rotating motor 25 and is used for clamping the electrical element 1 on the main conveyor belt 5.
The structure of the tin soldering device 6 is the same as that of the tin soldering device 9; the tin dispensing device 6 comprises a tin dispensing machine body 31 arranged on the rack assembly 2, a tin dispensing industrial camera 27 arranged on the tin dispensing machine body 31, a tin dispensing transverse rack 28 longitudinally arranged on the tin dispensing machine body 31, a tin dispensing longitudinal slide 29 arranged on the tin dispensing transverse rack 28 in a lifting mode, and a tin dispensing machine head 30 arranged on the tin dispensing longitudinal slide 29;
the work manipulator is a tin-dispensing work manipulator 22 arranged on one side of the tin-dispensing machine body 31.
The structure of the precooling device 7 is the same as that of the cooling device 10; the precooling device 7 comprises a cooling transverse frame 32 which is transversely movably arranged on the frame assembly 2, a cooling longitudinal frame 34 which is arranged on the cooling transverse frame 32, and a cooling fan head 35 which is longitudinally movably arranged on the cooling longitudinal frame 34;
the work robot is a cooling work robot 33 provided on one side of the cooling cross frame 32.
The shooting device 8 comprises a shooting transverse frame 36 arranged on the frame assembly 2 in a transverse moving way, a shooting longitudinal frame 38 arranged on the shooting transverse frame 36 and a shooting CCD head 39 arranged on the shooting longitudinal frame 38;
the working robot is a photographing working robot 37 provided on one side of the photographing traverse 36.
The trimming device 11 comprises a transverse cleaning rack 41 arranged on the rack assembly 2 in a transverse moving manner, a six-axis cleaning mechanical arm 42 arranged on the transverse cleaning rack 41, a cleaning grinding head 43 arranged at the cantilever end of the six-axis cleaning mechanical arm 42, and a cleaning exhaust pipe 44 arranged at one side of the cleaning grinding head 43;
the working manipulator is a cleaning working manipulator 40 arranged at one side of the cleaning transverse frame 41.
The discharging device 12 comprises an output longitudinal frame 45 arranged on the frame assembly 2, an output longitudinal sliding seat 46 driven by a cylinder to longitudinally slide on the output longitudinal frame 45, an output lifting sliding seat 47 arranged on the output longitudinal sliding seat 46 in a lifting mode, an output mechanical claw 48 arranged at the lower end of the output lifting sliding seat 47, an output lengthening arm 49 transversely arranged on the output lifting sliding seat 47, an output pressing punch 50 vertically arranged on the output lengthening arm 49, an output pressing head 52 movably arranged at the lower end of the output pressing punch 50, and an output spring 51 arranged between the output pressing punch 50 and the output pressing head 52.
The automatic welding process of the embodiment comprises the following steps;
step one, an automatic welding production line is set up,
step two, feeding and conveying; by means of the feeding conveyor 3, first, the electrical component 1 is placed by a robot or manually to the beginning of the feeding conveyor 13; then, the feeding conveyor 13 sends the feeding conveyor 13 to the end of the feeding conveyor 13; secondly, when the feeding photoelectric sensor 16 senses the electrical component 1 at the tail end, the feeding telescopic baffle 15 extends out to block the subsequent electrical component 1 on the feeding conveyor belt 13 from moving forwards;
step three, feeding and inputting; with the aid of the input device 4, first, the input gripper 21 grips the electrical component 1 at the end of the feeding conveyor 13; then, under the drive of the corresponding air cylinder, the input mechanical claw 21 conveys the paper to the main conveying belt 5;
step four, tin is dotted; by means of the tin dispensing device 6, firstly, the main conveyor belt 5 drives the electrical component 1 to come to a tin dispensing station; then, the electrical component 1 is held and rotated by the solder-applying work robot 22; thirdly, the tin dropping machine head 30 performs tin dropping on the electrical component 1; finally, the electrical component 1 after being tinned is placed on the main conveyor belt 5 by the tinning work robot 22;
step five, precooling; by means of the pre-cooling device 7, firstly, the main conveyor belt 5 drives the electrical component 1 to come to a pre-cooling station; then, the cooling work robot 33 grips and rotates the electric component 1; thirdly, the cooling fan head 35 cools the electrical component 1 by air; finally, the cooling work robot 33 places the electric component 1 after air cooling on the main conveyor 5;
step six, shooting detection, namely, by means of a shooting device 8, firstly, driving the electrical component 1 to a shooting detection station by a main conveyor belt 5; then, the photographing operation robot 37 grips and rotates the electric component 1; thirdly, the shooting CCD head 39 shoots the electrical component 1 and transmits the shot picture to the upper computer; then, the upper computer processes the shot picture; then, controlling a soldering device 9 to perform soldering repairing on the electrical element 1 through a prefabricated program or manual programming according to the processed picture; finally, the photographing operation robot 37 places the electrical component 1 after the photographing detection on the main conveyor 5;
seventhly, performing tin supplement welding, namely driving the electrical element 1 to a tin supplement welding station by the main conveyor belt 5 by means of the tin welding device 9; then, the working manipulator grips and rotates the electrical component 1; then, according to the program, the soldering device 9 performs the soldering repair to the electric element 1; finally, the working manipulator places the electrical component 1 after tin supplement welding on the main conveyor belt 5;
step eight, secondary air cooling, namely, by means of a cooling device 10, firstly, a main conveyor belt 5 drives an electrical component 1 to come to a secondary air cooling station; then, the working manipulator grips and rotates the electrical component 1; thirdly, the cooling device 10 performs secondary air cooling on the electrical component 1; finally, the working manipulator places the electrical component 1 after secondary air cooling on the main conveyor belt 5;
step nine, removing the redundant soldering tin, and by means of the trimming device 11, firstly, the main conveyor belt 5 drives the electrical component 1 to come to a soldering tin removing station; then, the cleaning work robot 40 grips and rotates the electric component 1; thirdly, the cleaning grinding head 43 removes the excess soldering tin from the electrical element 1, and meanwhile, the cleaning exhaust pipe 44 sucks away the excess soldering tin scraps; finally, the cleaning work robot 40 places the electrical component 1 from which the excess solder is removed on the main conveyor 5;
step ten, outputting, namely, by means of a discharging device 12, firstly, driving the electrical component 1 to the tail end of the main conveyor belt 5 by the main conveyor belt 5; then, the output gripper 48 grips the electrical component 1; next, the output lower pressing head 52 presses the electrical component 1 by its own weight; thirdly, outputting a downward pressing punch 50 to descend under the driving of the air cylinder and punching a hole at the corresponding position of the electrical element 1; finally, the output gripper 48 grabs the electrical component 1 off the main conveyor 5.
When the automatic feeding and discharging device is used, the automatic feeding, discharging, conveying, welding, cooling, detecting, repair welding and punching processes of the electrical element 1 are realized, the automation degree is high, the rack assembly 2 is a carrier, the feeding righting track 14 ensures the conveying stability, the feeding photoelectric sensor 16 realizes the automatic detection, the feeding transverse rack 17, the feeding longitudinal beam 18, the feeding longitudinal slide 19, the feeding lifting slide 20 realizes the action of the feeding mechanical claw 21, the working transverse slide 23, the working lifting slide 24, the working rotating motor 25 and the working mechanical claw 26 realize the action of the tin spot industrial camera 27, the cleaning exhaust pipe 44 avoids residues from falling, the output pressing punch 50 is used for post-welding processing, the precision is high, the coaxiality is good, the output spring 51 realizes the buffering effect, and the output pressing head 52 is prevented from hard impact with a workpiece.
The invention has the advantages of reasonable design, low cost, firmness, durability, safety, reliability, simple operation, time and labor saving, capital saving, compact structure and convenient use.
The present invention has been fully described for a clear disclosure and is not to be considered as an exemplification of the prior art.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; it is obvious as a person skilled in the art to combine several aspects of the invention. And such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (8)

1. An automatic welding assembly line which characterized in that: the tin soldering machine comprises a rack assembly (2), a feeding conveying device (3) arranged on the rack assembly (2), an input device (4) arranged at the output end of the feeding conveying device (3), a main conveying belt (5) arranged on one side of the input device (4), and a tin dotting device (6), a precooling device (7), a shooting device (8), a soldering device (9), a cooling device (10), a trimming device (11) and a discharging device (12) which are sequentially arranged on the main conveying belt (5);
at least three working mechanical arms for clamping the electrical components (1) are arranged on one side of the main conveyor belt (5);
the trimming device (11) comprises a transverse cleaning rack (41) which is arranged on the rack assembly (2) in a transverse moving mode, a six-axis cleaning mechanical arm (42) which is arranged on the transverse cleaning rack (41), a cleaning grinding head (43) which is arranged at the cantilever end of the six-axis cleaning mechanical arm (42), and a cleaning exhaust pipe (44) which is arranged on one side of the cleaning grinding head (43);
the working manipulator is a cleaning working manipulator (40) arranged on one side of the cleaning transverse rack (41).
2. The automatic welding production line of claim 1, wherein the feeding conveying device (3) comprises a feeding conveying belt (13) which is longitudinally arranged and used for conveying the electrical components (1), feeding righting rails (14) which are symmetrically and longitudinally arranged on two sides of the feeding conveying belt (13), a feeding telescopic baffle (15) which is transversely arranged on one feeding righting rail (14), driven by a cylinder and used for extending out to stop the electrical components (1) from moving forwards on the feeding conveying belt (13), and a feeding photoelectric sensor (16) arranged at the output end of the feeding conveying belt (13).
3. The automatic welding line according to claim 1, characterized in that the input device (4) comprises an input transverse frame (17) which is pushed by a cylinder to move transversely on the frame assembly (2), an input longitudinal beam (18) horizontally arranged on the input transverse frame (17), an input longitudinal slide (19) driven by the cylinder to move longitudinally on the input longitudinal beam (18), an input lifting slide (20) arranged on the input longitudinal slide (19) in a lifting way, and an input mechanical claw (21) which is arranged at the lower end of the input lifting slide (20) and used for clamping the electrical components (1) at the terminal end of the feeding conveyor (3) and carrying the electrical components to the beginning end of the main conveyor (5).
4. The automatic welding production line of claim 1, wherein two ends of the main conveyor belt (5) are provided with driving rollers, and the middle part of the main conveyor belt (5) is provided with a tensioning roller driven by a cylinder;
the working manipulator comprises a working transverse sliding seat (23) which is pushed by an air cylinder to move transversely on the rack assembly (2), a working lifting sliding seat (24) which is driven by the air cylinder to lift up and down on the working transverse sliding seat (23), a working rotating motor (25) which is transversely arranged on the working lifting sliding seat (24), and a working mechanical claw (26) which is arranged at the output end of the working rotating motor (25) and used for clamping an electrical element (1) on the main conveyor belt (5).
5. The automatic welding line according to claim 4, characterized in that the tin dispensing device (6) and the soldering device (9) have the same structure; the tin dispensing device (6) comprises a tin dispensing machine body (31) arranged on the rack assembly (2), a tin dispensing industrial camera (27) arranged on the tin dispensing machine body (31), a tin dispensing transverse rack (28) longitudinally arranged on the tin dispensing machine body (31), a tin dispensing longitudinal slide seat (29) arranged on the tin dispensing transverse rack (28) in a lifting mode, and a tin dispensing machine head (30) arranged on the tin dispensing longitudinal slide seat (29);
the work manipulator is a tin-dispensing work manipulator (22) arranged on one side of the tin-dispensing machine body (31).
6. The automatic welding line according to claim 4, characterized in that the pre-cooling device (7) is structurally identical to the cooling device (10); the precooling device (7) comprises a cooling transverse frame (32) which is transversely movably arranged on the frame assembly (2), a cooling longitudinal frame (34) which is arranged on the cooling transverse frame (32), and a cooling fan head (35) which is longitudinally and movably arranged on the cooling longitudinal frame (34);
the working manipulator is a cooling working manipulator (33) arranged on one side of the cooling transverse frame (32).
7. The automatic welding production line of claim 4, characterized in that the shooting device (8) comprises a shooting transverse frame (36) which is transversely movably arranged on the frame assembly (2), a shooting longitudinal frame (38) which is arranged on the shooting transverse frame (36), and a shooting CCD head (39) which is arranged on the shooting longitudinal frame (38);
the working manipulator is a shooting working manipulator (37) arranged on one side of the shooting transverse frame (36).
8. The automatic welding production line of claim 4, wherein the discharging device (12) comprises an output longitudinal frame (45) arranged on the frame assembly (2), an output longitudinal sliding base (46) driven by a cylinder to longitudinally slide on the output longitudinal frame (45), an output lifting sliding base (47) arranged on the output longitudinal sliding base (46) in a lifting mode, an output mechanical claw (48) arranged at the lower end of the output lifting sliding base (47), an output extension arm (49) transversely arranged on the output lifting sliding base (47), an output pressing punch (50) vertically arranged on the output extension arm (49), an output pressing head (52) movably arranged at the lower end of the output pressing punch (50), and an output spring (51) arranged between the output pressing punch (50) and the output pressing head (52).
CN201910024457.9A 2019-01-10 2019-01-10 Automatic welding assembly line Expired - Fee Related CN109822175B (en)

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Publication number Priority date Publication date Assignee Title
CN110549046A (en) * 2019-08-22 2019-12-10 杭州魔象智能科技有限公司 Soft mechanical arm and welding robot thereof
CN114147310B (en) * 2021-12-21 2024-06-25 上海轩田智能科技股份有限公司 Automatic tin-coating and gold-removing mechanism and automatic tin-coating and gold-removing method thereof

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