CN111112774A - Automatic tin surface tracking mechanism of inductance tin soldering machine - Google Patents
Automatic tin surface tracking mechanism of inductance tin soldering machine Download PDFInfo
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- CN111112774A CN111112774A CN202010111291.7A CN202010111291A CN111112774A CN 111112774 A CN111112774 A CN 111112774A CN 202010111291 A CN202010111291 A CN 202010111291A CN 111112774 A CN111112774 A CN 111112774A
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- manipulator
- tin surface
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- inductance
- tin
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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
- B23K1/00—Soldering, e.g. brazing, or unsoldering
- B23K1/08—Soldering by means of dipping in molten solder
-
- 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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- Mechanical Engineering (AREA)
- Resistance Welding (AREA)
Abstract
本发明涉及电感加工设备技术领域，尤其涉及一种电感焊锡机的自动追踪锡面机构。采用如下技术方案：一种电感焊锡机的自动追踪锡面机构，包括水平驱动机构、第一机械手和第二机械手，第一机械手和第二机械手的垂直驱动机构均采用伺服电机驱动的直线驱动结构，第一机械手和第二机械手的夹持机构上设置有锡面检测机构。优点在于：将现有机械手的气缸两点驱动方式改为伺服电机驱动滚珠丝杆的驱动方式，使夹持电感的机械手可以任意位置移动，并配合检测电极自动追踪锡面高度，从而保证电感元件的引脚能完全浸入锡料中，提高电感元件焊接的质量，提高生产效率，降低了对操作人员的劳动强度和技术要求，可实现一人操作多台焊锡机的自动化生产。
The invention relates to the technical field of induction processing equipment, in particular to an automatic tracking tin surface mechanism of an induction soldering machine. The following technical scheme is adopted: an automatic tracking tin surface mechanism of an induction soldering machine, including a horizontal drive mechanism, a first manipulator and a second manipulator, and the vertical drive mechanisms of the first manipulator and the second manipulator are both linear drive structures driven by servo motors , a tin surface detection mechanism is arranged on the clamping mechanism of the first manipulator and the second manipulator. The advantage is that the two-point driving mode of the cylinder of the existing manipulator is changed to the driving mode of the servo motor driving the ball screw, so that the manipulator holding the inductance can move at any position, and cooperate with the detection electrode to automatically track the height of the tin surface, so as to ensure the inductance element. The pins can be completely immersed in the tin material, which improves the welding quality of the inductive components, improves the production efficiency, reduces the labor intensity and technical requirements for the operators, and can realize the automatic production of multiple soldering machines operated by one person.
Description
Technical Field
The invention relates to the technical field of inductance processing equipment, in particular to an automatic tin surface tracking mechanism of an inductance tin soldering machine.
Background
An inductance tin soldering machine is a device for soldering enameled wire ends and pins at the root of an inductance magnetic core in the production process of an inductance, the device adopts a tin dipping soldering mode (namely, the part except the whole magnetic core is completely immersed in tin material), and simultaneously, pins at two ends of a plurality of inductance elements are soldered, the existing inductance tin soldering machine immerses the inductance elements in tin for soldering by the up-and-down movement of a manipulator, the manipulator adopts a cylinder two-point driving mode, the working position is constant, the tin dipping soldering is needed at two ends of the inductance elements, the consumption ratio of the tin material is faster, the descending of the tin surface in a tin furnace is obvious, the soldering quality of the enameled wire ends and the pins at the root of the inductance magnetic core is strictly controlled, workers are required to frequently pay attention to the height change of the tin surface in the tin furnace and add the tin material in time, and when the tin surface is descended, the cold joint phenomenon caused by the fact that the pins of the inductance element are not completely immersed in the tin material is easy to occur, therefore, an operator needs to perform rework welding on the inductance element with the detected cold joint, the workload of the operator is increased, and the technical requirements and experience requirements of the operator are high.
Disclosure of Invention
The invention aims to provide an automatic tin surface tracking mechanism of an inductance tin soldering machine, in particular to a mechanism capable of automatically tracking the height of a tin surface and adjusting the tin soldering depth of an inductance element.
In order to achieve the purpose, the invention adopts the following technical scheme: an automatic tin surface tracking mechanism of an inductance tin soldering machine comprises a horizontal driving mechanism, a first manipulator and a second manipulator, wherein the first manipulator and the second manipulator are arranged on the horizontal driving mechanism; the first vertical driving mechanism and the second vertical driving mechanism are both linear driving structures driven by servo motors, a first tin surface detection part is fixedly arranged at the tail end of the first clamping mechanism, and a second tin surface detection part is fixedly arranged at the tail end of the second clamping mechanism.
Furthermore, the linear driving structure driven by the servo motor comprises a base, the servo motor, a ball screw and a driving support, the base is in driving connection with the horizontal driving mechanism, the servo motor is arranged above the base and is in driving connection with the ball screw, and a screw nut of the ball screw is fixedly connected with the driving support.
Furthermore, the first tin surface detection part and the second tin surface detection part adopt a single-pole needle detection structure, and the single-pole needle detection structure comprises an electrode bracket and a detection electrode.
Furthermore, first fixture and second fixture adopt pneumatic clamping structure, and pneumatic clamping structure includes that rigid presss from both sides, floats and drive actuating cylinder, and drive actuating cylinder drive float press from both sides and rigid presss from both sides the mutual removal and carry out the centre gripping.
Further, the electrode support is fixedly arranged on the rigid clamp through an insulating seat.
Furthermore, the tail end of the detection electrode is flush with the root of the inductance pin clamped on the pneumatic clamping structure where the detection electrode is located.
Furthermore, the first rotary driving mechanism and the second rotary driving mechanism adopt three-station rotary driving mechanisms, and three stations of the three-station rotary driving mechanisms comprise a horizontal left position, a vertical downward position and a horizontal right position.
Furthermore, the horizontal driving mechanism adopts a linear guide rail, two driving slide blocks are arranged on the guide rail of the linear guide rail, and the two driving slide blocks are respectively in driving connection with the first manipulator and the second manipulator.
The invention has the advantages that: the cylinder two-point driving mode of the existing manipulator is changed into the driving mode of driving the ball screw by the servo motor, the manipulator for clamping the inductor can move at any position, and the height of the tin surface is automatically tracked by the aid of the detection electrodes, so that pins of the inductor element can be completely immersed in the tin material, the welding quality of the inductor element is improved, operators do not need to pay attention to the tin material added at the height of the tin surface frequently, the problem of insufficient soldering of the inductor element does not need to be checked frequently, production efficiency is improved, labor intensity and technical requirements of the operators are reduced, and automatic production of operating a plurality of tin soldering machines by one person can be realized.
Drawings
FIG. 1 is a schematic view showing the entire structure of an automatic tin surface tracking mechanism in example 1;
FIG. 2 is a front view of the automatic tin surface tracking mechanism in example 1;
FIG. 3 is a sectional view showing a linear driving structure driven by a servo motor in embodiment 1;
fig. 4 is a front view of the first robot or the second robot in embodiment 1;
fig. 5 is a perspective view of the first robot or the second robot in embodiment 1;
fig. 6 is a schematic structural diagram of a unipolar needle detection structure in embodiment 1.
Detailed Description
Example 1: referring to fig. 1-6, an automatic tin surface tracking mechanism of an inductance tin soldering machine comprises a horizontal driving mechanism 3, and a first manipulator 1 and a second manipulator 2 which are arranged on the horizontal driving mechanism 3, wherein the first manipulator 1 comprises a first vertical driving mechanism 11, a first rotary driving mechanism 12 and a first clamping mechanism 13 which are sequentially connected in a driving manner, and the second manipulator 2 comprises a second vertical driving mechanism 21, a second rotary driving mechanism 22 and a second clamping mechanism 23 which are sequentially connected in a driving manner; the first vertical driving mechanism 11 and the second vertical driving mechanism 21 both adopt linear driving structures driven by servo motors, a first tin surface detection part 14 is fixedly arranged at the tail end of the first clamping mechanism 12, and a second tin surface detection part 24 is fixedly arranged at the tail end of the second clamping mechanism 22.
In this embodiment, a first manipulator 1 and a second manipulator 2 respectively perform dip soldering on pins at two ends of an inductance element, wherein the first manipulator 1 and the second manipulator 2 have the same structure and are both arranged on a horizontal driving mechanism 3, when soldering the inductance, the horizontal driving mechanism 3 drives the first manipulator 1 to move leftwards to clamp the inductance element to be soldered, then drives the first manipulator 1 to perform first soldering on the tin furnace, then controls the second manipulator 2 to be close to the first manipulator 1 to clamp the soldered end of the inductance element on the first manipulator 1, then simultaneously moves leftwards to move the first manipulator 1 and the second manipulator 2, the second manipulator 2 moves to the upper side of the tin furnace to perform soldering on the other end of the inductance element, at this time, the first manipulator 1 performs an action of clamping a new batch of inductance element to be soldered, and finally the second manipulator 2 and the first manipulator 1 move rightwards simultaneously, the second manipulator 2 puts down the welded inductance element, and the first manipulator 1 welds the inductance element which is just clamped for one time, so that the welding procedure is completed on the inductance element. Specifically, when the first manipulator 1 clamps the inductance element, the first rotary driving mechanism 12 on the first manipulator 1 drives the first clamping mechanism 13 to rotate to the left to the horizontal position, and the first vertical driving mechanism 11 drives the first clamping mechanism 13 to the height position where the inductance element is placed for clamping, when the inductance element is immersed in a tin furnace for welding, the first rotary driving mechanism 12 drives the first clamping mechanism 13 to vertically downwards, the first vertical driving mechanism 11 drives the clamping device to extend the pin of the inductance element into the tin furnace for welding, when the second manipulator 2 receives the inductance element which is welded once from the first manipulator 1, the second rotary driving mechanism 22 drives the second clamping mechanism 23 to rotate to the left to the horizontal direction, the first rotary driving mechanism 12 drives the first clamping mechanism 13 to rotate to the right to the horizontal direction, the second clamping mechanism 23 clamps the end of the inductance component clamped by the first clamping mechanism 13, then the first clamping mechanism 13 releases the inductance component, thereby completing the transfer of the inductance component, and after the second manipulator 2 performs the secondary welding on the inductance component, the second rotary driving mechanism 22 drives the second clamping mechanism 23 to rotate rightwards to the horizontal direction and put down the inductance component. When the first manipulator 1 is used for soldering an inductive element, the first tin surface detection part 14 arranged on the first clamping mechanism 13 is used for detecting a tin surface and controlling the depth of the first vertical driving mechanism 11 for driving the clamping mechanism to descend according to the detection result, when the first tin surface detection part 14 detects the tin material, namely when the tin material is touched, the inductive element on the first clamping mechanism 13 is just immersed in the tin material, and the first vertical driving mechanism 11 stops driving the first clamping mechanism 13 to descend, because the first vertical driving mechanism 11 adopts a linear driving structure driven by a servo motor, real-time control can be carried out according to a detection signal of the first tin surface detection part 14, namely, when the first tin surface detection part 14 does not detect the tin surface, the first vertical driving mechanism 11 continues to drive the first clamping mechanism 13 to descend, and when the first tin surface detection part 14 detects the tin surface, the first vertical driving mechanism 11 can stop, thereby ensuring that the pins of the inductance element are immersed in the tin material for welding; the welding of the inductance element by the second manipulator 2 is also the same as the welding principle of the first manipulator 1, and is not described herein. Because the first vertical driving mechanism 11 and the second vertical driving mechanism 21 adopt a linear driving structure driven by a servo motor, the first tin surface detection part 14 is arranged at the tail end of the first clamping mechanism 13, the second tin surface detection part 24 is arranged at the tail end of the second clamping mechanism 23, the first vertical driving mechanism 11 and the second vertical driving mechanism 21 can control the descending depth in real time according to a tin surface signal detected by the first tin surface detection part 14 or the second tin surface detection part 24, ensure that pins of an inductance element can be immersed in a tin material for welding, and do not need to frequently check the tin surface height and check whether the inductance element is subjected to false welding or not manually, thereby greatly improving the production efficiency and quality, greatly reducing the labor intensity and technical difficulty of operators, and one operator can simultaneously operate a plurality of devices to improve the production efficiency, the labor cost is reduced.
Specifically, the linear driving structure driven by the servo motor comprises a base 41, a servo motor 42, a ball screw 43 and a driving bracket 44, wherein the base 41 is in driving connection with the horizontal driving mechanism 3, the servo motor 42 is arranged above the base 41 and is in driving connection with the ball screw 43, and a screw nut of the ball screw 43 is fixedly connected with the driving bracket 44. The linear driving structure driven by the servo motor adopts a structure that the servo motor 42 drives the ball screw 43, the servo motor 42 rotates to drive the screw rod of the ball screw 43 to rotate, so that the screw nut on the screw rod moves up and down, and the driving bracket 44 fixed on the screw nut is used for being fixedly connected with a driven part. Like the first robot 1 in the present embodiment, the driving bracket 44 of the first vertical driving mechanism 11 is fixedly connected to the first rotary driving mechanism 12, so that the first vertical driving mechanism 11 vertically drives the first rotary driving mechanism 12 and the first clamping mechanism 13, and similarly, in the second robot 2, the driving bracket 44 of the second vertical driving mechanism 21 is fixedly connected to the second rotary driving mechanism 22.
Specifically, the first tin surface detecting member 14 and the second tin surface detecting member 24 adopt a single-pole needle detecting structure, and the single-pole needle detecting structure includes an electrode holder 51 and one detecting electrode 52. The single-pole needle detection structure is characterized in that a detection electrode 52 is used for detecting a tin surface, the detection electrode 52 is one pole, a tin material in a tin furnace is the other pole, when the detection electrode 52 is in contact with the tin surface of the tin material, the detection electrode 52 is connected and conducted with the tin material, so that a control signal is sent to a controller of a servo motor 42 to control the servo motor 42 to stop rotating, the rotating speed of the servo motor 42 is controlled by an input signal, the response speed is high, an electric signal is sent to the controller of the servo motor 42 when the detection electrode 52 is in contact with the tin surface, the whole process is the transmission of the electric signal, the response time from the detection electrode 52 to the servo motor 42 to stop rotating the whole process is short, and the effect of instant response can be achieved. The electrode holder 51 is used to fix the detection electrode 52.
Specifically, the first clamping mechanism 13 and the second clamping mechanism 23 adopt a pneumatic clamping structure, the pneumatic clamping structure includes a rigid clamp 61, a floating clamp 62 and a driving cylinder 63, and the driving cylinder 63 drives the floating clamp 62 to move towards the rigid clamp 61 for clamping. The electrode bracket 51 is fixedly arranged on the rigid clamp 61 through an insulating seat 53; the ends of the detection electrodes 52 are flush with the roots of the inductive pins held on the pneumatic holding structure on which they are located.
Specifically, the first rotary driving mechanism 12 and the second rotary driving mechanism 22 adopt a three-position rotary driving mechanism, and three positions of the three-position rotary driving mechanism include horizontal left, vertical down, and horizontal right. In the operation process of the first manipulator 1 and the second manipulator 2, the first rotary driving mechanism 12 and the second rotary driving mechanism 22 are in three station states, and when the first rotary driving mechanism 12 or the second rotary driving mechanism 22 is horizontal to the left, the first rotary driving mechanism is in a material taking state, namely the first manipulator 1 clamps the inductance element to be welded, or the second manipulator 2 clamps the inductance element welded at one end of the first manipulator 1; when the first rotary driving mechanism 12 or the second rotary driving mechanism 22 is vertically downward, the welding state is achieved; when the first rotary drive mechanism 12 or the second rotary drive mechanism 22 is horizontal to the right, the feeding state is achieved, that is, the first robot 1 hands over the inductance components with one welded end to the second robot 2, or the second robot 2 puts down the welded inductance components.
In fig. 1 to 5, three states of the first gripper 13 at three stations of the first rotary drive 12 of the first robot 1 are shown at the same time, and three states of the second gripper 23 at three stations of the second rotary drive 22 of the second robot 2 are also shown at the same time, that is, the three first grippers 13 on the first robot 1 shown in the drawings are superimposed first grippers 13 at three different positions, and the three second grippers 23 on the second robot 2 shown in the drawings are superimposed second grippers 23 at three different positions, and in an actual device, there is only one first gripper 13 on the first robot 1 and only one second gripper 23 on the second robot 2.
Specifically, the horizontal driving mechanism 3 adopts a linear guide rail, two driving sliders 31 are arranged on the guide rail of the linear guide rail, and the two driving sliders are respectively connected with the first manipulator 1 and the second manipulator 2 in a driving manner. The two driving sliders on the horizontal driving mechanism 3 are respectively and fixedly connected with the first vertical driving mechanism 11 of the first manipulator 1 and the base 41 of the second vertical driving mechanism 21 of the second manipulator 2, so that the left-right translation driving of the first manipulator 1 and the second manipulator 2 is realized.
It should be understood that the above-mentioned embodiments are merely preferred embodiments of the present invention, and not intended to limit the scope of the invention, therefore, all equivalent changes in the principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The utility model provides an automatic tracking tin face mechanism of inductance soldering tin machine which characterized in that: the manipulator comprises a horizontal driving mechanism, a first manipulator and a second manipulator, wherein the first manipulator and the second manipulator are arranged on the horizontal driving mechanism; the first vertical driving mechanism and the second vertical driving mechanism are linear driving structures driven by servo motors, a first tin surface detection part is fixedly arranged at the tail end of the first clamping mechanism, and a second tin surface detection part is fixedly arranged at the tail end of the second clamping mechanism.
2. The automatic tin surface tracking mechanism of the inductance soldering machine as claimed in claim 1, wherein: the linear driving structure driven by the servo motor comprises a base, the servo motor, a ball screw and a driving support, the base is in driving connection with the horizontal driving mechanism, the servo motor is arranged above the base and is in driving connection with the ball screw, and a screw nut of the ball screw is fixedly connected with the driving support.
3. The automatic tin surface tracking mechanism of the inductance soldering machine as claimed in claim 2, wherein: the first tin surface detection component and the second tin surface detection component adopt a single-pole needle detection structure, and the single-pole needle detection structure comprises an electrode support and a detection electrode.
4. The automatic tin surface tracking mechanism of the inductance soldering machine as claimed in claim 3, wherein: first fixture and second fixture adopt pneumatic clamping structure, pneumatic clamping structure includes that the rigidity presss from both sides, floats to press from both sides and drive actuating cylinder, and drive actuating cylinder drive is floated to press from both sides and is moved towards the rigidity clamp and carry out the centre gripping.
5. The automatic tin surface tracking mechanism of the inductance soldering machine as claimed in claim 4, wherein: and the electrode bracket is fixedly arranged on the rigid clamp through an insulating seat.
6. The automatic tin surface tracking mechanism of the inductance soldering machine as claimed in claim 5, wherein: the tail end of the detection electrode is flush with the root of the inductance pin clamped on the pneumatic clamping structure where the detection electrode is located.
7. The automatic tin surface tracking mechanism of the inductance soldering machine as claimed in any one of claims 1 to 6, wherein: the first rotary driving mechanism and the second rotary driving mechanism adopt three-station rotary driving mechanisms, and three stations of the three-station rotary driving mechanisms comprise a horizontal left position, a vertical downward position and a horizontal right position.
8. The automatic tin surface tracking mechanism of the inductance soldering machine as claimed in claim 7, wherein: the horizontal driving mechanism adopts a linear guide rail, two driving sliding blocks are arranged on the guide rail of the linear guide rail, and the two driving sliding blocks are respectively in driving connection with the first mechanical arm and the second mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010111291.7A CN111112774A (en) | 2020-02-24 | 2020-02-24 | Automatic tin surface tracking mechanism of inductance tin soldering machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010111291.7A CN111112774A (en) | 2020-02-24 | 2020-02-24 | Automatic tin surface tracking mechanism of inductance tin soldering machine |
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| CN111112774A true CN111112774A (en) | 2020-05-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010111291.7A Pending CN111112774A (en) | 2020-02-24 | 2020-02-24 | Automatic tin surface tracking mechanism of inductance tin soldering machine |
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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 |
| CN117182238A (en) * | 2022-06-01 | 2023-12-08 | 深圳市万至达电机制造有限公司 | Automatic tin dipping device for block wire cups and method of using it to dip tin into block wire cups |
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| CN211889339U (en) * | 2020-02-24 | 2020-11-10 | 揭阳市揭东区新美得福电子有限公司 | Automatic tin surface tracking mechanism of inductance tin soldering machine |
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| CN204657701U (en) * | 2015-05-29 | 2015-09-23 | 广东贝贝机器人有限公司 | A kind of tin stove tin face checkout gear |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20230046823A1 (en) * | 2021-08-12 | 2023-02-16 | Delta Electronics, Inc. | Automatic soldering processing system and automatic soldering processing method |
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