CN113346333A - Automatic lead adjusting device and method - Google Patents
Automatic lead adjusting device and method Download PDFInfo
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- CN113346333A CN113346333A CN202110481694.5A CN202110481694A CN113346333A CN 113346333 A CN113346333 A CN 113346333A CN 202110481694 A CN202110481694 A CN 202110481694A CN 113346333 A CN113346333 A CN 113346333A
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
- H01R43/28—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for wire processing before connecting to contact members, not provided for in groups H01R43/02 - H01R43/26
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
- H01R43/02—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for soldered or welded connections
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Abstract
The invention discloses a lead automatic adjusting device and a method thereof, mainly comprising a material component, a lead adjusting component, a wire feeding component and an identification component, wherein the wire feeding component is fixed above the adjusting component, the center of a wire outlet is collinear with the center of the adjusting component, and the lead adjusting component comprises a plurality of adjusting tables, so that the lead adjusting component can drive the wire feeding component to move in a three-dimensional direction, and the flexible adjustment of the lead direction is automatically realized; the identification assembly can control the extension length of the lead wire in the wire feeding assembly according to the passing condition of the lead wire in the wire feeding assembly, so that the length of the lead wire can be designed and adjusted according to the sizes of different parts; the position and pose of the part to be welded and the lead can be automatically adjusted through the matching of the material assembly, the lead adjusting assembly, the lead feeding assembly and the identification assembly, the lead is high in alignment adjustment precision and good in consistency, is not limited by the manual skill level, and is particularly suitable for the automatic production process.
Description
Technical Field
The invention belongs to the technical field of lead bonding, and relates to an automatic lead adjusting device and method.
Background
The wire bonding realizes the excellent electrical interconnection function of microelectronic products and is widely applied in the field of microelectronics. In some microelectronic products, it is necessary to solder the leads to the component, and transmit the electrical signals of the component through the leads. The lead and the part are welded to form a part assembly, which has higher requirements, for example, an electric brush is taken as an example, the end part of a lead insulating layer is required to be tightly close to the part to be welded, a gap is not required between a lead insulating skin and an arm of the part to be welded, a mounting point is required to be smooth and not pierced, the length is required to be too large and is 1.0-1.2 mm, an adhesive is not required on the lower surface of a cross beam of the part to be welded, the width of the mounting part is less than or equal to 0.5mm, the center of the lead is aligned with the center of the part to be welded as much as possible, the distance between the two sides of the widest part to be mounted and the center of the part to be welded is less than or equal to 0.25mm respectively, the lead is required to be aligned with the part, and an included angle between the surface to be welded of the part and a lead wire core is not required. The bonding of leads to components is a critical step in microelectronic products, and the electrical interconnection effect directly affects the quality of the products.
At present, a production line adopts the manual mode of traditional hand-held to align lead wire and part, receives personnel's skill level's restriction, easily appears the alignment operation degree of difficulty big, the alignment is not just scheduling problem, and production efficiency is low, hardly satisfies actual production demand. At present, no relevant technology of the automatic lead adjusting device and the method thereof at home and abroad is seen.
Disclosure of Invention
The invention aims to overcome the defects and provides the automatic lead adjusting device and the automatic lead adjusting method.
In order to achieve the above purpose, the invention provides the following technical scheme:
an automatic lead adjusting device comprises a material assembly, a lead adjusting assembly, a lead feeding assembly and an identification assembly;
the material assembly is used for fixing the parts to be welded and adjusting the pose of the parts to be welded according to the adjustment instructions of the parts to be welded input by the identification assembly so as to enable the pose of the parts to be welded to be matched with the pose of the lead;
the lead wire adjusting assembly is used for driving the wire feeding assembly to realize 3-degree-of-freedom movement according to a lead wire adjusting instruction input by the identification assembly, and adjusting the pose of the lead wire sent out by the wire feeding assembly to be matched with the pose of the part to be welded; the motion with 3 degrees of freedom comprises linear motion along the plane of the workbench, rotation around a rotating shaft in the direction vertical to the workbench and rotation around a rotating shaft in the direction parallel to the linear motion;
the wire feeding assembly is used for fixing the lead wire, feeding out the lead wire and adjusting the extending length of the lead wire according to a length adjusting instruction input by the identification assembly;
the identification component is used for identifying the poses of the parts to be welded and the lead, judging the poses, and outputting the adjustment instructions of the parts to be welded and the lead to the material component and the lead adjustment component respectively according to the judgment result; the device is used for identifying the sending condition of the lead in the wire feeding assembly, judging and outputting a length adjusting instruction to the wire feeding assembly according to the judgment result.
Furthermore, the lead adjusting assembly comprises a sliding adjusting table, a first rotating adjusting table, a second rotating adjusting table and motors corresponding to the adjusting tables; the sliding adjusting table, the first rotating strip adjusting table, the second rotating adjusting table and the wire feeding assembly are sequentially connected from bottom to top; the motor corresponding to each adjusting platform receives the adjusting instruction input by the identification component, and drives each adjusting platform to drive the wire feeding component to move as follows:
the sliding adjusting table drives the wire feeding assembly to do linear motion along the plane of the workbench;
the first rotary adjusting table rotates around a rotating shaft which passes through the center of the first rotary adjusting table and is vertical to the direction of the workbench;
the second rotary adjusting table rotates around a rotating shaft which passes through the center of the second rotary adjusting table and is parallel to the linear motion direction of the sliding adjusting table.
Further, the sliding adjusting table is a linear sliding table, and the linear sliding table comprises a sliding table base and a linear sliding block; the sliding table base is fixed on the workbench, a sliding rail is arranged on the upper surface of the sliding table base, and the lower surface of the linear sliding block is matched with the sliding rail to realize linear sliding along the sliding rail.
Further, the wire feeding assembly is fixed above the lead adjusting assembly and comprises a wire feeding roller, a wire feeding nozzle and a wire feeding motor; the wire feeding roller is fixed at the wire inlet of the wire feeding nozzle, and the wire feeding motor drives the wire feeding roller to enable the lead wire to extend out of the wire outlet of the wire feeding nozzle after entering the wire feeding nozzle according to a length adjusting instruction input by the identification component.
Furthermore, the center of a wire outlet of the wire feeding nozzle, the centroid of the linear sliding block, the centroid of the first rotary adjusting table and the centroid of the second rotary adjusting table are positioned on the same straight line perpendicular to the direction of the workbench.
Further, the material assembly is fixed on the workbench through a support and comprises a material rotary table and a material assembly motor; the part to be welded is fixed on the material rotary table;
a material component motor is arranged to drive the material rotary table to rotate around the material rotary table centroid rotating shaft according to an adjusting instruction input by the identification component, and the pose of the part to be welded is changed; the rotating shaft is parallel to the workbench and vertically slides to adjust the linear motion direction of the workbench.
Furthermore, the center of the outlet of the lead in the wire feeding assembly is positioned at the same height with the centroid of the material turntable of the material assembly.
Furthermore, the identification assembly comprises a pose identification assembly, a length identification assembly and a working condition controller; the pose identification assembly comprises a Charge Coupled Device (CCD), a telecentric lens and a fine adjustment device; the telecentric lens is connected with the charge coupled device CCD and is commonly used for identifying the poses of the parts to be welded and the lead and inputting the pose results into the working condition control machine, and the working condition control machine judges the pose results and outputs an adjusting instruction to the lead adjusting assembly and the material assembly; the fine adjustment device is used for fixing the telecentric lens and adjusting the angle of the telecentric lens;
the length identification assembly is a photoelectric sensor arranged on the wire feeding assembly, the photoelectric sensor identifies the passing condition of a lead wire in the wire feeding assembly and outputs the passing condition to the working condition controller, the working condition controller judges and outputs a length adjusting instruction to the wire feeding assembly according to a judgment result.
Furthermore, the pose recognition assemblies are divided into two groups, and the central lines of the telecentric lenses in the two groups of pose recognition assemblies are mutually vertical and are respectively orthogonal to the line feeding direction of the line feeding assembly.
An automatic lead adjusting method is realized by adopting the automatic lead adjusting device, and is characterized by comprising the following steps:
s1 identifying the pose of the part to be welded by the identifying component;
s2 the recognition component recognizes the lead pose and the lead passing condition in the wire feeding component;
the S3 recognition component judges according to the recognition results of the step S1 and the step S2, respectively outputs the adjustment instruction of the parts to be welded and the wire adjustment instruction to the material component and the wire adjustment component according to the judgment result, and outputs the length adjustment instruction to the wire feeding component;
s4, the wire feeding component adjusts the extension length of the lead wire according to the length adjusting instruction input by the identification component; and the material assembly and the lead adjusting assembly respectively adjust the pose of the to-be-welded part and the pose of the lead according to the to-be-welded part adjusting instruction and the lead adjusting instruction input by the identification assembly, so that the lead is attached to the to-be-welded part.
Compared with the prior art, the invention has the following beneficial effects:
(1) according to the automatic lead adjusting device, the recognition component is additionally arranged to recognize the poses of the parts to be welded and the lead, meanwhile, the judgment is carried out according to the recognition result, the material component is controlled, the lead adjusting component respectively adjusts the poses of the parts to be welded and the lead, so that the parts to be welded and the lead can be accurately attached, and the automatic lead adjusting device is high in alignment adjusting precision, high in alignment efficiency and good in attachment consistency;
(2) the invention relates to an automatic lead adjusting device.A lead adjusting assembly comprises a plurality of adjusting tables, so that the lead adjusting assembly can drive a wire feeding assembly to move in a three-dimensional direction, and the flexible adjustment of the lead direction is automatically realized;
(3) according to the automatic lead adjusting device, the identification assembly can control the extending length of the lead in the lead feeding assembly according to the passing condition of the lead in the lead feeding assembly, so that the length of the lead can be designed and adjusted according to the sizes of different parts, and the optimal welding effect is achieved;
(4) according to the automatic lead adjusting device, two groups of gesture recognition assemblies with vertical recognition directions are arranged, so that the poses of a part to be welded and a lead can be recognized in all directions, the bonding condition of each structure of the part to be welded and the lead is monitored at any time, and the bonding of different surfaces to be welded and the lead is completed;
(5) the automatic lead adjusting method provided by the invention can automatically adjust the positions and postures of the parts to be welded and the lead, has high lead alignment adjusting precision, is not limited by the manual skill level, has high alignment efficiency, is suitable for the automatic production process, and can greatly improve the assembly efficiency and consistency of the parts.
Drawings
FIG. 1 is a view showing an overall configuration of an automatic lead adjusting apparatus according to the present invention;
FIG. 2 is a schematic diagram of a lead wire and a part being attached by an automatic lead wire adjusting method according to the present invention;
FIG. 3 is a detailed view of the wire feeding assembly and the material assembly of the automatic wire guiding adjustment apparatus according to the present invention;
FIG. 4 is a schematic view of a wire feeding assembly of an automatic lead adjusting device according to the present invention;
FIG. 5 is a schematic diagram of the bonding of a lead and a part to be welded in embodiment 1 of the present invention.
Detailed Description
The features and advantages of the present invention will become more apparent and appreciated from the following detailed description of the invention.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
An automatic lead adjusting device is shown in fig. 1 and comprises a material assembly, an adjusting assembly, a lead feeding assembly and a recognition assembly, wherein in fig. 1, 1 is a Charge Coupled Device (CCD), 2 is a fine adjustment device, 3 is a telecentric lens, 4 is a material turntable, 5 is a material assembly, 6 is a lead feeding roller, 7 is a photoelectric sensor, 8 is a lead feeding assembly, 9 is a second rotary adjusting table, 10 is a first rotary adjusting table, and 11 is a sliding adjusting table;
the material assembly is used for fixing the parts to be welded and adjusting the pose of the parts to be welded according to the adjustment instructions of the parts to be welded input by the identification assembly so as to enable the pose of the parts to be welded to be matched with the pose of the lead;
the lead wire adjusting assembly is used for driving the wire feeding assembly to realize 3-degree-of-freedom movement according to a lead wire adjusting instruction input by the identification assembly, and adjusting the pose of the lead wire sent out by the wire feeding assembly to be matched with the pose of the part to be welded; the motion with 3 degrees of freedom comprises linear motion along the plane of the workbench, rotation around a rotating shaft in the direction vertical to the workbench and rotation around a rotating shaft in the direction parallel to the linear motion;
the wire feeding assembly is used for fixing the lead wire, feeding out the lead wire and adjusting the extending length of the lead wire according to a length adjusting instruction input by the identification assembly;
the identification component is used for identifying the poses of the parts to be welded and the lead, judging the poses, and outputting the adjustment instructions of the parts to be welded and the lead to the material component and the lead adjustment component respectively according to the judgment result; and the wire feeding module is also used for identifying the sending-out condition of the lead wire in the wire feeding module, judging and outputting the length adjusting instruction to the wire feeding module according to the judgment result.
Further, the lead adjusting assembly comprises a sliding adjusting table 11, a first rotating adjusting table 10, a second rotating adjusting table 9 and motors corresponding to the adjusting tables; the sliding adjusting table 11, the first rotating strip adjusting table 10, the second rotating adjusting table 9 and the wire feeding assembly 8 are sequentially connected from bottom to top; the motor corresponding to each adjusting platform receives the adjusting instruction input by the identification component, and drives each adjusting platform to drive the wire feeding component to move as follows:
the sliding adjusting table 11 drives the wire feeding assembly to do linear motion along the plane of the workbench;
the first rotary adjusting table 10 rotates around a rotating shaft which passes through the center of the first rotary adjusting table and is vertical to the direction of the workbench;
the second rotary adjustment stage 9 rotates about a rotation axis passing through the center of the second rotary adjustment stage and parallel to the direction of linear motion of the sliding adjustment stage.
Further, the sliding adjusting table 11 is a linear sliding table, and the linear sliding table comprises a sliding table base and a linear sliding block; the sliding table base is fixed on the workbench, a sliding rail is arranged on the upper surface of the sliding table base, and the lower surface of the linear sliding block is matched with the sliding rail to realize linear sliding along the sliding rail. The linear sliding block is fixed above the sliding table base, the moving plane of the linear sliding block is parallel to the upper surface of the sliding table base, and the second rotary adjusting table is fixed above the first rotary adjusting table and the moving plane of the second rotary adjusting table is perpendicular to the moving plane of the first rotary adjusting table.
Furthermore, the centroid of the linear sliding block, the centroid of the first rotary adjusting table and the centroid of the second rotary adjusting table are located on the same straight line perpendicular to the direction of the workbench.
Further, the wire feeding assembly 8 is fixed above the wire guiding adjustment assembly and comprises a wire feeding roller 6, a wire feeding nozzle 14 and a wire feeding motor; the wire feeding roller 6 is fixed at the wire inlet of the wire feeding nozzle 14, and the wire feeding motor drives the wire feeding roller 6 to enable the lead 13 to enter the wire feeding nozzle 14 and then to extend out of the wire outlet of the wire feeding nozzle 14 according to a length adjusting instruction input by the identification component. The wire outlet direction of the wire feeding nozzle is parallel to the motion plane of the second rotary adjusting table.
Furthermore, the center of the wire outlet of the wire feeding nozzle 14, the centroid of the linear sliding block, the centroid of the first rotary adjusting table and the centroid of the second rotary adjusting table are located on the same straight line perpendicular to the direction of the workbench.
Further, the material assembly 5 is fixed on the workbench through a support and comprises a material rotary table 4 and a material assembly motor; the parts to be welded are fixed on the material rotary table 4, and after adjustment, the positions to be welded of the parts to be welded and the center of the adjusting assembly are collinear. The movement plane of the material rotary table 4 is perpendicular to the first rotary adjusting table and the second rotary adjusting table, the material rotary table 4 comprises a fixed tool and a material tray which are arranged on the material rotary table, and the material tray is arranged on the fixed tool.
A material component motor is arranged to drive the material rotary table 4 to rotate around a centroid rotating shaft passing through the material rotary table 4 according to an adjusting instruction input by the identification component, so that the pose of a part to be welded is changed; the rotating shaft is parallel to the workbench and vertically slides to adjust the linear motion direction of the workbench.
Furthermore, the center of the outlet of the wire feeding nozzle 14 and the center of the material rotary table 4 are located at the same height.
Furthermore, the identification assembly comprises a pose identification assembly, a length identification assembly and a working condition controller;
the pose recognition assembly comprises a charge coupled device CCD1, a telecentric lens 3 and a fine adjustment device 2; the telecentric lens 3 is connected with the charge coupled device CCD1 and is used for identifying the poses of the parts to be welded and the lead wires and inputting the pose results into the working condition controller, and the working condition controller judges the pose results and outputs adjusting instructions to the lead wire adjusting assembly and the material assembly; the fine adjustment device 2 is used for fixing the telecentric lens 3 and adjusting the angle of the telecentric lens 3;
the length identification assembly is a photoelectric sensor 7 arranged on the wire feeding assembly, the photoelectric sensor 7 identifies the passing condition of a lead wire in the wire feeding assembly and outputs the passing condition to the working condition controller, the working condition controller judges the passing condition, and the length adjustment instruction is output to the wire feeding assembly according to the judgment result.
Furthermore, the pose recognition assemblies are divided into two groups, are respectively positioned right above and right in front of the exit and take the line feeding direction as the front; the two groups of pose recognition assemblies are distributed in an orthogonal mode, the central lines of telecentric lenses 3 in the two groups of pose recognition assemblies are perpendicular to each other and are respectively orthogonal to the line feeding direction of the line feeding assembly, and the distance between the end face of each lens and the line feeding nozzle is related to the object distance of each lens.
Further, the photoelectric sensors are respectively arranged at the position of a wire inlet of the wire feeding nozzle 14 of the wire feeding assembly and the position of a wire outlet close to the wire feeding nozzle 14.
An automatic lead adjusting method is realized by adopting the automatic lead adjusting device, and is characterized by comprising the following steps:
s1 identifying the pose of the part to be welded by the identifying component;
the S2 identification component identifies a lead pose;
the S3 recognition component judges according to the recognition results of the step S1 and the step S2, respectively outputs the adjustment instruction of the parts to be welded and the wire adjustment instruction to the material component and the wire adjustment component according to the judgment result, and outputs the length adjustment instruction to the wire feeding component;
s4, the wire feeding component adjusts the extension length of the lead wire according to the length adjusting instruction input by the identification component; the material assembly and the lead wire adjusting assembly respectively adjust the pose of the to-be-welded part and the pose of the lead wire according to the to-be-welded part adjusting instruction and the lead wire adjusting instruction input by the identification assembly, as shown in fig. 2 and fig. 3, the lead wire is attached to the to-be-welded part, specifically, in fig. 2, 12 is the to-be-welded part, 13 is the lead wire, and 14 is the wire feeding nozzle.
Example 1
In this embodiment, the automatic lead adjusting device of the present invention is used to automatically align a to-be-welded part with a lead, where the to-be-welded part is an electric brush, and the structure of the electric brush is known to those skilled in the art and is a part with a corner.
As shown in fig. 4, the lead 13 is fed into the wire feeding nozzle 14 through the wire feeding roller 6, at this time, the photoelectric sensor 7 detects the lead and outputs the detection result to the working condition controller in the identification component, and the working condition controller sends out a length adjustment instruction to drive the wire feeding motor in the wire feeding component, so that the wire feeding roller continuously works until the lead 13 is fed out by a certain length to meet the welding requirement.
For convenience of description, the original point of a coordinate system is set as the centroid of the sliding table base, the X axis is the moving direction of the linear sliding block far away from the material assembly, the Z axis is vertical to the upward direction of the workbench, and the Y axis meets the right-hand rule. After the electric brush is fixed on the material rotary table 4, the surface to be welded of the electric brush is vertical to the XZ plane, and the shape of the surface to be welded is shown in figures 2 and 3.
At this time, the linear motion direction of the sliding adjustment table 11 is the X-axis direction;
the first rotary adjusting table 10 rotates around a rotating shaft which passes through the center of the first rotary adjusting table and is parallel to the Z-axis direction;
the second rotary adjustment stage 9 rotates about a rotation axis passing through the center of the second rotary adjustment stage and parallel to the Z-axis direction.
The two groups of pose identification assemblies are respectively marked as a first pose identification assembly and a second pose identification assembly, and a first telecentric lens and a first CCD in the first pose identification assembly identify the pose states of the parts to be welded 12 and the lead 13 on a YZ plane;
adjusting a second rotary adjusting table to drive the wire feeding assembly to enable the lead 13 to carry out angle adjustment in a YZ plane (namely adjustment around the X-axis direction), so that the surface to be welded observed by the first position and posture identifying assembly is parallel to the lead 13 (at the moment, the projection of the lead and the surface to be welded in the YZ plane is parallel);
according to the corner position of a part 12 to be welded, namely an electric brush, after the identification component identifies the passing condition of a lead 13 in the wire feeding component, a length adjustment instruction is sent out to enable a wire feeding motor to drive a wire feeding roller 6 to rotate forwards or reversely to adjust the extending length of the lead, and the lead insulation skin observed by the first position identification component is aligned with the starting point of a surface to be welded in the Y direction (the starting point of the surface to be welded is actually the corner position);
the first telecentric lens and the first CCD recognize the pose states of the parts to be welded 12 and the lead 13 on the YZ plane again, and the material rotary table 4 drives the parts to be welded to adjust the positions on the YZ plane according to the positions of the leads so that the starting point of the surface to be welded observed by the first pose recognition component coincides with the extending end of the lead;
the second telecentric lens and the second CCD identify the pose states of the parts to be welded 12 and the lead 13 on the XY plane, and according to the pose of the parts to be welded 12, the first adjusting turntable drives the lead 13 to carry out angle adjustment on the XY plane so that the lead 13 observed by the second pose identifying component is parallel to the parts to be welded 12 (namely the lead 13 is parallel to the projection of the surface to be welded in the XY plane);
the second telecentric lens and the second CCD recognize the pose states of the parts 12 to be welded and the lead 13 on the XY plane again, the sliding adjusting platform is adjusted according to the positions of the parts 12 to be welded to enable the lead 13 to move in the X direction, the starting point of the surface to be welded observed by the second position and pose recognition component is enabled to coincide with the extending end of the lead, and the pose adjustment and alignment of the lead and the parts to be welded in the space are completed, as shown in FIG. 5. During the subsequent welding process, the length of the lead 13 is adjusted as required.
The invention has been described in detail with reference to specific embodiments and illustrative examples, but the description is not intended to be construed in a limiting sense. Those skilled in the art will appreciate that various equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its embodiments without departing from the spirit and scope of the present invention, which fall within the scope of the present invention. The scope of the invention is defined by the appended claims.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (10)
1. The automatic lead adjusting device is characterized by comprising a material component (5), a lead adjusting component, a lead feeding component (8) and an identification component;
the material assembly (5) is used for fixing the parts to be welded and adjusting the pose of the parts to be welded according to the adjustment instructions of the parts to be welded input by the identification assembly so as to enable the pose of the parts to be welded to be matched with the pose of the lead;
the lead wire adjusting assembly is used for driving the wire feeding assembly to realize 3-degree-of-freedom movement according to a lead wire adjusting instruction input by the identification assembly, and adjusting the pose of the lead wire sent out by the wire feeding assembly to be matched with the pose of the part to be welded; the motion with 3 degrees of freedom comprises linear motion along the plane of the workbench, rotation around a rotating shaft in the direction vertical to the workbench and rotation around a rotating shaft in the direction parallel to the linear motion;
the wire feeding assembly (8) is used for fixing the lead wire, feeding out the lead wire and adjusting the extending length of the lead wire according to a length adjusting instruction input by the identification assembly;
the identification component is used for identifying the poses of the parts to be welded and the lead, judging the poses, and outputting the adjustment instructions of the parts to be welded and the lead to the material component and the lead adjustment component respectively according to the judgment result; the device is used for identifying the sending condition of the lead in the wire feeding assembly, judging and outputting a length adjusting instruction to the wire feeding assembly according to the judgment result.
2. The automatic lead adjusting device according to claim 1, characterized in that the lead adjusting assembly comprises a sliding adjusting table (11), a first rotating adjusting table (10), a second rotating adjusting table (9) and a motor corresponding to each adjusting table; the sliding adjusting table (11), the first rotating strip adjusting table (10), the second rotating adjusting table (9) and the wire feeding assembly (8) are sequentially connected from bottom to top; the motor corresponding to each adjusting platform receives the adjusting instruction input by the identification component, and drives each adjusting platform to drive the wire feeding component (8) to move as follows:
the sliding adjusting table (11) drives the wire feeding assembly (8) to do linear motion along the plane of the workbench;
the first rotary adjusting table (10) rotates around a rotating shaft which passes through the center of the first rotary adjusting table and is vertical to the direction of the workbench;
the second rotary adjusting table (9) rotates around a rotating shaft which passes through the center of the second rotary adjusting table and is parallel to the linear motion direction of the sliding adjusting table.
3. The automatic lead adjusting device according to claim 2, characterized in that the sliding adjusting table (11) is a linear sliding table, and the linear sliding table comprises a sliding table base and a linear sliding block; the sliding table base is fixed on the workbench, a sliding rail is arranged on the upper surface of the sliding table base, and the lower surface of the linear sliding block is matched with the sliding rail to realize linear sliding along the sliding rail.
4. The automatic lead wire adjusting device according to claim 3, characterized in that the lead wire feeding assembly (8) is fixed above the lead wire adjusting assembly and comprises a lead wire feeding roller (6), a lead wire feeding nozzle (14) and a lead wire feeding motor; the wire feeding roller (6) is fixed at the wire inlet of the wire feeding nozzle (14), and the wire feeding motor drives the wire feeding roller (6) to enable the lead wire (13) to enter the wire feeding nozzle (14) and then extend out of the wire outlet of the wire feeding nozzle (14) according to a length adjusting instruction input by the identification component.
5. The automatic lead adjusting device according to claim 4, wherein the center of the outlet of the lead feeding nozzle (14), the centroid of the linear slider, the centroid of the first rotary adjusting table and the centroid of the second rotary adjusting table are located on the same straight line perpendicular to the direction of the worktable.
6. The automatic lead adjusting device of claim 2, characterized in that the material assembly (5) is fixed on the workbench through a bracket and comprises a material rotary table (4) and a material assembly motor; the parts to be welded are fixed on the material rotary table (4);
a material component motor is arranged to drive the material rotary table (4) to rotate around the centroid rotating shaft passing through the material rotary table (4) according to an adjusting instruction input by the identification component, so that the pose of the part to be welded is changed; the rotating shaft is parallel to the workbench and vertically slides to adjust the linear motion direction of the workbench.
7. An automatic lead wire adjusting device according to claim 6, characterized in that the outlet position of the lead wire in the wire feeding assembly is at the same height as the centroid of the material turntable (4) of the material assembly.
8. The automatic lead wire adjusting device according to claim 1, wherein the recognition assembly comprises a pose recognition assembly, a length recognition assembly and a working condition controller; the pose recognition assembly comprises a charge coupled device CCD (1), a telecentric lens (3) and a fine adjustment device (2); the telecentric lens (3) is connected with the charge coupled device CCD (1) and is commonly used for identifying the poses of the parts to be welded and the lead and inputting the pose results into the working condition controller, and the working condition controller judges the pose results and outputs an adjusting instruction to the lead adjusting assembly and the material assembly; the fine adjustment device (2) is used for fixing the telecentric lens (3) and adjusting the angle of the telecentric lens (3);
the length identification assembly is a photoelectric sensor (7) arranged on the wire feeding assembly, the photoelectric sensor (7) identifies the passing condition of a lead in the wire feeding assembly and outputs the passing condition to the working condition controller, the working condition controller judges the passing condition, and the length adjustment instruction is output to the wire feeding assembly according to the judgment result.
9. The automatic lead wire adjusting device according to claim 8, wherein the pose recognition assemblies are two groups, and the center lines of the telecentric lenses (3) in the two groups of pose recognition assemblies are perpendicular to each other and are respectively orthogonal to the wire feeding direction of the wire feeding assembly.
10. An automatic lead adjusting method implemented by using an automatic lead adjusting device according to any one of claims 1 to 9, comprising the steps of:
s1 identifying the pose of the part to be welded by the identifying component;
s2 the recognition component recognizes the lead pose and the lead passing condition in the wire feeding component;
the S3 recognition component judges according to the recognition results of the step S1 and the step S2, respectively outputs the adjustment instruction of the parts to be welded and the wire adjustment instruction to the material component and the wire adjustment component according to the judgment result, and outputs the length adjustment instruction to the wire feeding component;
s4, the wire feeding component adjusts the extension length of the lead wire according to the length adjusting instruction input by the identification component; and the material assembly and the lead adjusting assembly respectively adjust the pose of the to-be-welded part and the pose of the lead according to the to-be-welded part adjusting instruction and the lead adjusting instruction input by the identification assembly, so that the lead is attached to the to-be-welded part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110481694.5A CN113346333B (en) | 2021-04-30 | 2021-04-30 | Automatic lead adjusting device and method |
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| CN202110481694.5A CN113346333B (en) | 2021-04-30 | 2021-04-30 | Automatic lead adjusting device and method |
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| CN113346333B CN113346333B (en) | 2023-02-03 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4610278A (en) * | 1985-08-26 | 1986-09-09 | Emerson Electric Co. | Variable lead length assembly |
| CN203509270U (en) * | 2013-09-03 | 2014-04-02 | 何文斌 | Copper foil lead automatic welding device |
| CN110086061A (en) * | 2019-01-29 | 2019-08-02 | 昀智科技（北京）有限责任公司 | High-precision wire cable joint robot welding system and welding method |
| CN210040843U (en) * | 2019-07-11 | 2020-02-07 | 台州浩然机械制造有限公司 | LED welding terminal crimping machine |
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2021
- 2021-04-30 CN CN202110481694.5A patent/CN113346333B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4610278A (en) * | 1985-08-26 | 1986-09-09 | Emerson Electric Co. | Variable lead length assembly |
| CN203509270U (en) * | 2013-09-03 | 2014-04-02 | 何文斌 | Copper foil lead automatic welding device |
| CN110086061A (en) * | 2019-01-29 | 2019-08-02 | 昀智科技（北京）有限责任公司 | High-precision wire cable joint robot welding system and welding method |
| CN210040843U (en) * | 2019-07-11 | 2020-02-07 | 台州浩然机械制造有限公司 | LED welding terminal crimping machine |
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| CN113346333B (en) | 2023-02-03 |
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