CN114843858A - Wire welding robot - Google Patents

Abstract

The invention provides a wire welding robot, which can take down a lead from a lead frame through a first clamping structure arranged on a first manipulator, can realize the work of wire shearing, wire stripping and the like of the lead through a second manipulator, realizes the automation of a welding process and improves the efficiency; through set up vertical ball structure on the motion board of automatically controlled grudging post and set up horizontal ball structure on the motion frame of slip table, realize first manipulator, second manipulator and sleeve device about, adjust, combine screw structure one ~ seven, greatly promoted the nimble degree of clamping device on the manipulator and shearing clamping device etc..

Description

Wire welding robot

Technical Field

The invention relates to the field of intelligent control, in particular to a wire welding robot.

Background

In the current railway industry, because there are many railway signal devices and a large amount of data needs to be processed, a signal machine room is usually set to realize centralized control of the data. The signal machine room is used as the heart of the signal system, and has important significance in other intelligent communication fields, especially aiming at the environment where a large amount of data needs to be transmitted and processed.

In the design and installation process of a railway signal machine room, design requirements on the temperature, the humidity, the ventilation condition and even the noise of the machine room exist, and the normal operation of a station and even a plurality of railway lines can be directly influenced due to the safety of the signal machine room. The construction process of constructors can be strictly controlled.

There are a large number of communication lines in the signal room. For these communication lines, the connection is currently completed by manual welding by workers. Wherein for the convenience of workman can distinguish different cables, also for the convenience work such as inspection, can cup joint the code spraying pipe that corresponds to every communication line, accomplish welding work again. In the wiring process of a machine room, because the space of a cabinet is small, more wiring needs to be processed, and even if the code spraying pipe is used for assisting, the welding error is easy to occur; in addition, a large amount of wiring arrangement and classification work is finished in a narrow cabinet space, and the method is also a great work load for constructors; therefore, the wiring work of the machine room puts higher requirements on the convenience of experience, patience, physical strength and the like of constructors.

On the other hand, due to welding uncertainty, a cold joint condition may occur, and the work of the machine room is directly affected, so that a complicated verification process is also performed after the signal machine room is arranged. Therefore, there is a need for a device that can automatically complete welding and can perform communication verification of the wiring.

Disclosure of Invention

The invention aims to solve the defects in the prior art and provides a welding robot.

In order to solve the problems, the invention adopts the following technical scheme:

a welding robot comprises a lead frame, an electric control vertical frame, a sliding table, an image acquisition device, a first mechanical arm and a second mechanical arm; the first manipulator and the second manipulator are respectively connected with the sliding table through sliding structures, the sliding table is connected with the electric control vertical frame through the sliding structures, and the sliding structures are ball screw structures; the image acquisition device is arranged on the first manipulator or the second manipulator; the lead frame is fixedly arranged on the signal cabinet needing to be welded.

Furthermore, the electric control stand comprises a box body, a motion plate and a control module; the control module is arranged in the box body; the moving plate is arranged on one side surface of the box body and is vertically arranged; the control module adopts a programmable singlechip, is used for controlling the actions of the first manipulator, the second manipulator and the sliding table, and is also connected with the image acquisition device for processing and identifying images acquired by the image acquisition device.

Further, the motion plate is used for connecting the sliding table; a vertical ball screw structure is arranged on the moving plate; the vertical ball screw structure comprises a vertical motor, a vertical screw and a vertical ball nut; the vertical lead screw is arranged in the Y direction; two ends of the vertical screw rod are respectively connected with the moving plate through bearings; one end of the vertical screw rod is also provided with a vertical motor; the vertical ball nut is arranged on the vertical screw through a ball; the vertical ball nut is also connected with the sliding table.

Further, the sliding table comprises a moving frame and a transverse ball screw structure; the transverse ball screw structure is arranged on the moving frame; the moving frame is connected with a sliding block on a sliding rail arranged on the moving plate; the transverse ball screw structure is connected with the first manipulator or the second manipulator; the transverse ball screw structure comprises a transverse motor, a transverse screw and a transverse ball nut; the transverse screw rod is positioned in the Z direction; the transverse lead screw is also connected with the moving frame through a bearing; the transverse motor is arranged on the moving frame.

Further, the first manipulator comprises a first traverse seat, a first rotating block and a first clamping device; the first rotating block is hinged to the first transverse moving seat and can rotate around the hinged part; a rotating motor is arranged at the hinged part of the first rotating block and the first transverse moving seat;

the first clamping device comprises a first supporting frame, a second supporting frame, a welding device, a wire drawing structure and a first clamping structure; the second support frame is arranged on the first support frame in a sliding mode through the first screw rod structure; the welding device is arranged on the upper side plate of the second support frame in a sliding manner; the shearing clamping structure is arranged on the lower side plate of the second supporting frame in a sliding manner; the wire traction structure is arranged on the second support frame; the first support frame is arranged in the hollow part of the first mounting part of the first rotating block;

the welding device comprises a lead screw structure II and a welding wire traction device; the second lead screw structure is arranged between the welding wire traction device and the upper side plate of the second support frame and is used for controlling the relative displacement between the welding wire traction device and the second support frame;

the welding wire traction device comprises a substrate, a welding head, a guide pipe, a guide motor, a guide wheel and a welding wire wheel; the bottom of the base plate is connected with a ball nut of the second screw structure; the guide tube, the guide motor, the guide wheel and the welding wire wheel are all arranged on the substrate; the welding head is arranged on the side surface of the substrate; the guide tube, the guide motor and the guide wheel are used for drawing the welding wire; the welding wire wheel is used for storing welding wires; the welding head is used for welding the welding wire;

the wire traction structure is arranged on the first support frame, wherein the wire traction structure comprises a limiting head and a connecting base, the limiting head and the connecting base are integrally manufactured, and the connecting base is arranged between the limiting head and the first support frame; the limiting head is used for limiting the movement space of the lead;

the first clamping structure comprises a first connecting plate, a screw rod structure III, a pneumatic finger I and a wire clamp I; the screw rod structure III is arranged on the lower side plate of the second support frame; the first pneumatic finger is arranged at one end of the first connecting plate, the other end of the first connecting plate is connected with the ball nut of the third screw structure, the ball nut of the third screw structure is further arranged on the slide rail of the lower side plate through a slide block, and the third screw structure is used for controlling the relative movement between the first connecting plate and the second supporting frame; the first wire clamp is arranged on the clamping jaw of the first pneumatic finger.

Further, the second manipulator comprises a second traverse seat, a second rotating block and a second clamping device; the second rotating block is arranged on the second transverse moving seat; the second clamping device is arranged on the second rotating block; the second transverse moving seat is hinged with the second rotating block, and a rotating motor is arranged at the hinged part of the second rotating block and the second transverse moving seat;

the second clamping device comprises a third supporting frame, a fourth supporting frame, a first shearing and clamping structure, a second shearing and clamping structure and a second clamping structure; the fourth supporting frame is arranged on the third supporting frame in a sliding mode, and a bottom plate of the fourth supporting frame is arranged on a ball nut of the screw structure IV on the third supporting frame; the first shearing and clamping structure is arranged on the upper side plate of the fourth supporting frame; the second shearing and clamping structure is arranged at one end, close to each other, of the upper side plate and the lower side plate of the fourth supporting frame; the second clamping structure is arranged on the lower side plate of the fourth supporting frame;

the first shearing and clamping structure comprises a second connecting plate, a screw rod structure five, a pneumatic finger two, a lifting cylinder one, a lifting cylinder two and a wire clamp two; the screw rod structure V is arranged on the upper side plate of the fourth supporting frame; the pneumatic finger II is arranged at one end of the second connecting plate, the other end of the second connecting plate is connected with the ball nut of the screw structure V, the ball nut of the screw structure V is further arranged on a sliding rail through a sliding block, and the sliding rail is fixedly connected with the motor of the screw structure V; the second wire clamp is arranged on the second pneumatic finger; the first lifting cylinder is arranged between the upper side plate of the fourth supporting frame and the motor of the fifth screw rod structure; the second lifting cylinder is arranged between the upper side plate of the fourth supporting frame and the second connecting plate;

the second shearing and clamping structure comprises a third pneumatic finger and a third wire clamp, wherein the third pneumatic finger is arranged on the fixed seat at one end, close to the lower side plate, of the upper side plate of the fourth supporting frame; the third wire clamp is arranged on the third pneumatic finger;

the second clamping structure comprises a third connecting plate, a screw rod structure six, a pneumatic finger four and a wire clamp four, wherein the screw rod structure six is arranged on a lower side plate of the fourth supporting frame; the pneumatic finger four is arranged at one end of the third connecting plate, the other end of the second connecting plate is connected with the ball nut of the screw structure six, and the ball nut of the screw structure six is further arranged on a sliding rail of a lower side plate of the fourth supporting frame through a sliding block; the wire clamp IV is arranged on the clamping jaw of the pneumatic finger IV.

Further, the first manipulator and the second manipulator are respectively arranged on the electric control stand through two sliding tables, wherein the sliding table of the first manipulator is positioned above the second manipulator;

the lead frame is used for arranging leads needing to be welded;

the electric control vertical frame is characterized by also comprising a sleeve device, wherein the sleeve device is arranged on the electric control vertical frame through a sliding table; the sleeve device comprises a third transverse moving seat, a third rotating block, a lead screw structure seven, a sleeve platform and sleeve equipment; the third transverse moving seat is hinged with the third rotating block, and a rotating motor is arranged at the hinged part of the third rotating block and the third transverse moving seat; the third transverse moving seat is connected with a sliding block of the sliding table; the screw rod structure seventh is arranged on the third rotating block; the casing equipment is arranged on the casing platform; the sleeve platform is arranged on the ball nut of the lead screw structure seven.

A welding method of a wire welding robot comprises the following steps:

step 1: the control module controls and adjusts a transverse ball screw structure and a vertical ball screw structure corresponding to the first manipulator and a rotation angle between the first transverse moving seat and the first rotating block; moving the first manipulator to a set position for clamping the lead;

step 2: starting a motor of the lead screw structure III to enable the first clamping structure to move to a set position of the lead frame;

and step 3: starting a first pneumatic finger to control a first wire clamp to clamp a wire;

and 4, step 4: the image acquisition device acquires images and transmits the images to the control module of the electric control stand; the control module judges whether the conductor is clamped or not according to the trained image recognition model; if the lead is not clamped, returning to the step 1; if the wire is clamped, entering step 5;

and 5: the motor is controlled through the control module, the position of the second manipulator relative to the first manipulator is adjusted, and the second clamping structure of the second manipulator is located right below the first clamping structure of the first manipulator;

step 6: controlling the clamping air pressure of the pneumatic finger IV and the opening angle of the clamping jaw of the pneumatic finger IV to enable the wire clamp IV to clamp the wire at the set pressure and opening angle;

and 7: controlling the sliding table corresponding to the second manipulator to move downwards for a set distance;

and 8: controlling the opening of the second pneumatic finger and the third pneumatic finger;

and step 9: starting a motor of the screw rod structure IV and a motor of the screw rod structure VI; the wire clamp four-way screw rod structure six motor direction contracts, and the second clamping device integrally extends towards the motor direction far away from the screw rod structure four; enabling the wire clamp III, the wire clamp IV and the wire clamp I to be positioned on the same vertical straight line;

step 10: starting a motor of the screw rod structure V to enable the wire clamps I to IV to be positioned on the same vertical straight line; and a distance is set between the second lead clamp and the third lead clamp at intervals;

step 11: closing the pneumatic finger II, and cutting off the lead through the lead clamp II;

step 12: opening the pneumatic finger II, starting the lifting cylinder I, and sinking the wire clamp II by a set distance X to enable the wire clamp II to be close to the wire clamp III;

step 13: closing a pneumatic finger II, and shearing the insulating skin on the outer layer of the lead through the waist-shaped hole structure on the lead clamp II;

step 14: starting a lifting cylinder II, lifting the wire clamp upwards for a set distance X' to form an exposed wire part, and finishing wire stripping work;

step 15: controlling a first manipulator to enable a welding device to carry out tin rinsing treatment on the exposed lead part;

step 16: opening the second pneumatic finger to control the second lifting cylinder to sink; then the second pneumatic finger is closed, the second lead clamp cuts off the leads, and the exposed leads of the tin rinsing part are reserved;

and step 17: opening the first pneumatic finger to enable the first wire clamp to loosen the cut wires;

step 18: starting a wire marking machine to generate a coded tube;

step 19: moving the first manipulator to enable a first wire clamp on the first pneumatic finger to clamp the coding tube; cutting off the coding tube by a wire size machine;

step 20: moving the first manipulator to enable the first lead clamp to be positioned right above the second lead clamp; controlling the first mechanical arm to move downwards, and sleeving the coding tube clamped on the lead clamp into the lead; opening the first pneumatic finger to enable the first wire clamp to release the coding tube;

step 21: opening a pneumatic finger II and a pneumatic finger III; starting a motor of the fourth screw structure to enable the wire clamp to extend out in the direction of the motor far away from the sixth screw structure, and simultaneously starting a motor of the second screw structure to enable the second clamping device to integrally contract in the direction of the motor of the fourth screw structure; the fourth lead clamp and the first lead clamp are positioned on the same vertical straight line, and the second lead clamp and the third lead clamp are contracted inwards;

step 22: moving the second manipulator upwards to send the wire between the first wire clamp and the wire traction structure; closing the first pneumatic finger to enable the first wire clamp to clamp the wire;

step 23: controlling a motor of the third lead screw structure to enable the lead clamp to contract a set distance in the direction close to the motor of the third lead screw structure, so that a dislocation state of a first lead clamp and a limiting head of the lead traction structure is formed, wherein the limiting head extends out relative to the first lead clamp;

step 24: controlling the first manipulator to move, wherein the lead traction structure is positioned at the corresponding welding hole part;

step 25: controlling a motor of the third screw structure to enable the wire clamp to extend a set distance in a direction away from the motor of the third screw structure; leading the lead to penetrate into the welding hole part;

step 26: and controlling the welding device to complete welding, and finishing the step.

Further, when the second clamping structure of the second manipulator is located right below the first clamping structure of the first manipulator in the step 5, the first shearing clamping structure and the second shearing clamping structure of the second manipulator are kept in an open state, or the lead clamp four is extended out through the lead screw structure six.

Further, the set distance X' of the lifting in step 14 is smaller than the set distance X of the sinking in step 12.

The invention has the beneficial effects that:

the first manipulator is arranged to take down the lead from the lead frame, and the second manipulator is arranged to cut and strip the lead, so that the automation of the welding process is realized and the efficiency is improved;

the welding device is arranged, so that the welding wire is transmitted and the automatic welding work is realized; the tin brushing operation of the lead is convenient to realize through the V-shaped notch on the welding device, and the lead is prevented from being scattered;

vertical ball screw structures are arranged on a moving plate of the electric control stand, and transverse ball screw structures are arranged on a moving frame of the sliding table, so that the vertical and horizontal adjustment of the first mechanical arm, the second mechanical arm and the sleeve device is realized, and the flexibility of a clamping device, a shearing clamping device and the like on the mechanical arm is greatly improved by combining the first to seventh screw structures;

by arranging the image recognition device, whether the grabbing of the lead and the welding process of the lead are smoothly carried out or not is judged, the intelligent degree of the device is improved, and the smooth operation of the welding work of the robot is effectively ensured;

through at the wire stripping in-process, keep the insulating rubber skin of peeling off on the wire, until accomplish through welding set and rinse tin processing back, just get rid of the insulating rubber skin of peeling off, effectively avoid the copper wire of wire inside or other electrically conductive, communication material to scatter.

Drawings

Fig. 1 is a schematic overall structure diagram of a first embodiment of the present invention;

fig. 2 is a schematic view of a manipulator and a casing device on an electrically controlled stand according to a first embodiment of the present invention;

fig. 3 is a schematic view of a first robot according to a first embodiment of the invention;

fig. 4 is a schematic view of a first clamping device according to a first embodiment of the invention;

fig. 5 is a partially enlarged view of the first grasping apparatus according to the first embodiment of the present invention;

fig. 6 is a schematic view of a second robot according to the first embodiment of the present invention;

fig. 7 is a schematic view of a second clamping device according to a first embodiment of the invention;

fig. 8 is a partially enlarged view of the second grasping apparatus according to the first embodiment of the present invention;

FIG. 9 is a schematic view of a cannula device according to a first embodiment of the present invention;

FIG. 10 is a schematic view of a sleeving apparatus according to a first embodiment of the present invention;

fig. 11 is a schematic view of a lead frame according to an embodiment of the invention;

fig. 12 is an enlarged view of a portion of a lead frame according to a first embodiment of the present invention;

fig. 13 is a schematic view of a communication verification apparatus according to a second embodiment of the present invention;

FIG. 14 is a schematic view of a first blade holder of a base plate according to a second embodiment of the present invention;

FIG. 15 is a schematic view of a blade bar movement structure according to a second embodiment of the present invention;

FIG. 16 is a first embodiment of a first blade head of the present invention;

fig. 17 is a schematic diagram of a second communication verification apparatus according to a third embodiment of the present invention;

fig. 18 is a schematic diagram of a second elimination slider of the communication verification apparatus according to the third embodiment of the present invention.

The attached drawings indicate the following: the lead frame 1, the lead hook 11, the electric control stand 2, the box 21, the motion plate 22, the vertical ball screw structure 23, the sliding table 3, the upper rail 31, the lower rail 32, the side connecting block 33, the transverse ball screw structure 34, the first manipulator 4, the first traverse base 41, the rotating motor 411, the first rotating block 42, the first hinge part 421, the first mounting part 422, the first clamping device 43, the first supporting frame 431, the first screw structure 432, the second supporting frame 433, the bottom plate 4331, the upper side plate 4332, the lower side plate 4333, the welding device 44, the second screw structure 441, the substrate 442, the welding head 443, the V-shaped notch 4431, the guide tube 444, the guide motor 445, the guide wheel 446, the welding wire wheel 447, the supporting frame 4471, the U-shaped notch 4472, the column 4473, the lead traction structure 45, the limiting head 451, the U-shaped notch 452, the lead traction port 453, the connecting base 454, the first clamping structure 46, the first connecting plate 461, the transverse connecting block 33, the transverse ball screw structure 34, the transverse ball screw structure, the first supporting frame 431, the transverse ball screw structure 431, the first supporting frame 431, the transverse ball screw structure, the transverse support structure, the transverse ball structure, the transverse support, the transverse ball structure, the transverse support frame support, the transverse, The three-lead screw structure 462, the first pneumatic finger 463, the first lead clamp 464, the lead wire groove 465, the second manipulator 5, the second traverse seat 51, the second rotating block 52, the second hinge part 521, the second mounting part 522, the second clamping device 53, the third support frame 531, the fourth lead screw structure 532, the fourth support frame 533, the first shearing and clamping structure 54, the second connecting plate 541, the fifth lead screw structure 542, the second pneumatic finger 543, the first lifting cylinder 544, the second lifting cylinder 545, the second lead clamp 546, the limiting block, the second shearing and clamping structure 55, the third pneumatic finger 551, the third lead clamp 552, the second clamping structure 56, the third connecting plate 561, the sixth lead screw structure 562, the fourth pneumatic finger 563, the fourth lead clamp 564, the sleeving device 6, the third traverse seat 61, the third rotating block 62, the seventh lead screw structure 63, the sleeving platform 64, the support upright post 65, the sleeving device 66, the first communication checking device 7, the first bottom plate 71, the second rotating block 71, the second clamping device 53, the third clamping device 55, the third clamping device, the second clamping device, the third clamping device, the, The device comprises a connecting seat 711, a lifting rod 72, a first blade head 73, a blade rod 74, a blade frame 75, a lower frame 751, an upper frame 752, a fixed column 76, a spring plate 77, a second communication verification device 8, a second bottom plate 81, a second wire guide hole 82, a sliding plate 83, a first wire guide hole 84, a fixed hole 85, a second blade head 86 and a limiting device 87.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.

The first embodiment is as follows:

as shown in fig. 1, a wire bonding robot includes a lead frame 1, an electrically controlled vertical frame 2, a sliding table 3, an image capturing device, a first manipulator 4, and a second manipulator 5. The first mechanical arm 4 and the second mechanical arm 5 are respectively connected with the sliding table 3 through sliding structures, the sliding table 3 is connected with the electric control stand 2 through the sliding structures, and the sliding structures are ball screw structures; the image acquisition device is arranged on the first manipulator 4 or the second manipulator 5, and in the example, the image acquisition device is arranged on the first manipulator 4; in this example, the lead frame 1 is fixedly mounted on the signal cabinet to be welded.

As shown in fig. 2, the electric control stand 2 includes a box 21, a motion plate 22 and a control module; wherein the control module is arranged inside the box body 21; the moving plate 22 is disposed on one side of the case 21, and the moving plate 22 is disposed upright. The control module adopts a programmable single chip microcomputer, is used for controlling the actions of the first mechanical arm 4, the second mechanical arm 5 and the sliding table 3, is also connected with the image acquisition device, and processes and identifies images acquired by the image acquisition device, wherein the identification images adopt the existing identification method, and in the example, the image identification method of model training is adopted. The motion plate 22 is used for connecting the sliding table 3; the moving plate 22 is provided with a vertical ball screw structure 23. The vertical ball screw structure 23 comprises a vertical motor, a vertical screw and a vertical ball nut; the vertical screw rod is arranged in the Y direction, and the Y direction is a vertical direction in the example; two ends of the vertical screw rod are respectively connected with the moving plate 22 through bearings; one end of the vertical screw rod is also provided with a vertical motor, and the vertical motor is arranged on the upper side of the vertical screw rod in the embodiment; the vertical motor is in transmission connection with the lead screw and can adopt gear transmission connection; the vertical motor is also connected with the control module, and the control module controls the vertical motor to act; the vertical ball nut is arranged on the vertical screw through a ball; the vertical ball nut is also connected with the sliding table 3. The left and right sides of the moving plate 22 are also provided with slide rails, respectively, which are parallel to the vertical screw. The sliding rail is correspondingly provided with a sliding block, and the sliding block can slide along the sliding rail. The slider is connected with the sliding table 3. Slide rails are arranged at the left edge and the right edge of the moving plate 22, and a slide block is arranged on the slide rails and connected with the sliding table 3, so that the sliding table 3 can be stably lifted. The bottom of the electric control vertical frame 2 is also provided with a bottom plate 4331, and the bottom plate 4331 is arranged on the ground; it should be noted that, in some other embodiments, the lower surface of the bottom plate 4331 may be further provided with moving wheels, and the moving wheels include universal wheels; the device of this embodiment can be conveniently moved by moving the wheels.

The sliding table 3 comprises a moving frame and a transverse ball screw structure 34, wherein the transverse ball screw structure 34 is arranged on the moving frame; the moving frame is connected with a slide block on a slide rail arranged on the moving plate 22; the transverse ball screw structure 34 is connected with the first manipulator 4 or the second manipulator 5; in the present embodiment, the first manipulator 4 and the second manipulator 5 are respectively disposed on the two sliding tables 3, and both the two sliding tables 3 are disposed on the moving plate 22 of the electrically controlled vertical frame 2 through the vertical ball screw structure 23; the vertical lead screws corresponding to the two sliding tables 3 are parallel to each other, and the length of the two vertical lead screws is consistent with the height of the two vertical lead screws. The transverse ball screw structure 34 includes a transverse motor, a transverse screw, and a transverse ball nut; the transverse ball nut is arranged on the transverse screw through balls and is also connected with the first manipulator 4 or the second manipulator 5; the transverse screw rod is in transmission connection with a transverse motor, the transmission connection is gear connection in the example, and the transverse screw rod is positioned in the Z direction; the transverse screw rod is also connected with the moving frame through a bearing; the transverse motor is arranged on the moving frame. The moving frame comprises an upper rail 31, a lower rail 32 and a side connecting block 33; the side connecting block 33 is positioned at one end of the upper rail 31 and the lower rail 32, and the upper rail 31 and the lower rail 32 are arranged on the side connecting block 33 in parallel; the upper rail 31 and the lower rail 32 are located in the Z direction in this example. Through the upper rail 31 and the lower rail 32 structure of slip table 3, realize the sliding connection of first manipulator 4 and second manipulator 5 and slip table 3 to through the rotation of horizontal motor, drive the action of horizontal ball nut, drive the action of first manipulator 4 and second manipulator 5 then. It should be noted that in some other embodiments, both ends of the upper rail 31 and the lower rail 32 may be provided with a side connection block 33, wherein the transverse motor is arranged on the side connection block 33 at one end; the structural strength of the moving frame is enhanced, the deformation of the moving frame is reduced, and the precision is ensured by the side connecting blocks 33 at the two ends of the upper rail 31 and the lower rail 32.

As shown in fig. 3 to 8, the first manipulator 4 and the second manipulator 5 are respectively disposed on the electrically controlled vertical frame 2 through two sliding tables 3, wherein the sliding table 3 of the first manipulator 4 is located above the second manipulator 5.

The first robot 4 includes a first traverse table 41, a first rotating block 42, and a first gripping device 43; the first rotating block 42 is hinged on the first traverse seat 41, the first rotating block 42 can rotate around the hinged part, and the rotating direction of the first rotating block 42 is in the horizontal direction in this example; a rotating motor 411 is arranged at the hinged part of the first rotating block 42 and the first transverse moving seat 41, the rotating motor 411 is connected with a control module of the electric control stand 2, and the rotating motor 411 can control the rotating angle and the rotating direction of the first rotating block 42; the first traverse seat 41 is arranged on the upper rail 31 and the lower rail 32 of the moving frame of the sliding table 3 through a sliding block, the first traverse seat 41 is also connected with a transverse ball nut, and the transverse ball nut is driven to move through the rotation of a transverse motor, so that the movement of the first traverse seat 41 is realized; the first gripping device 43 is provided on the first rotating block 42. The first rotating block 42 comprises a first hinge portion 421 and a first mounting portion 422; the first hinge part 421 is in a straight plate shape, one end of the first hinge part 421 is in a semi-arc shape, the other end of the first hinge part 421 is fixedly connected with the first mounting part 422, and one end of the semi-arc is used for hinging; the first mounting portion 422 is integrally in a shape of a straight quadrangular prism, the interior of the first mounting portion 422 is hollow, and the hollow portion is also in a shape of a straight quadrangular prism. The opening side of the hollow part of the first mounting part 422 is positioned on one side, far away from the first hinge part 421, of the first mounting part 422.

The first clamping device 43 comprises a first supporting frame 431, a second supporting frame 433, a welding device 44, a wire drawing structure 45 and a first clamping structure 46; wherein the second supporting frame 433 is slidably disposed on the first supporting frame 431; the welding device 44 is slidably arranged on the upper part of the second supporting frame 433; the shearing and clamping structure is characterized in that the first clamping structure 46 is arranged at the lower part of the second supporting frame 433 in a sliding manner; the lead traction structure 45 is arranged on the second support frame 433; the first supporting frame 431 is disposed in the hollow portion of the first mounting portion 422 of the first rotating block 42. The first support frame 431 is in a square frame shape, and a first screw rod structure 432 is arranged inside the first support frame 431; the second support frame 433 includes a bottom plate 4331, an upper plate 4332 and a lower plate 4333, wherein the upper plate 4332 and the lower plate 4333 are disposed at two ends of the bottom plate 4331 to form a triangular frame structure; the bottom plate 4331 of the second support frame 433 is slidably connected to the first support frame 431 through a first lead screw structure 432. The motor of the first screw rod structure 432 is also arranged in the hollow part of the first installation part 422, and the motor is connected with the first installation part 422 through a threaded structure. The bottom plate 4331 of the second support frame 433 is also connected with the side edge of the first support frame 431 in a sliding manner through a sliding block; the sliders are disposed on both sides of the bottom plate 4331 of the second support frame 433, and are further connected to the side surfaces of the second support frame 433. The bottom plate 4331 of the second support frame 433 penetrates the first support frame 431; a through hole is further formed in the bottom plate 4331 of the second support frame 433 and used for penetrating through a screw rod of the first screw rod structure 432; the intersection point of the two sides of the second support frame 433 is disposed outside the first support frame 431; the first and second support frames 431 and 433 form a buckle structure. One end of the two sides of the second supporting frame 433, which are close to each other, is provided with a wire pulling structure 45.

The welding device 44 is disposed on the second supporting frame 433, wherein the welding device 44 is located on an upper portion of the upper side plate 4332 of the second supporting frame 433. The welding device 44 comprises a second lead screw structure 441 and a welding wire traction device; the second lead screw structure 441 is disposed between the wire drawing device and the upper side plate 4332 of the second support frame 433. The motor of the second screw structure 441 is fixedly arranged on the upper side plate 4332; the screw of the screw structure II 441 is arranged at the output end of the motor; the ball nut of the second lead screw structure 441 is arranged on the slide rail of the upper side plate 4332 through a slide block, and the ball nut is further connected with a welding wire traction device. Through the action of the motor of the second lead screw structure 441, the ball nut can be pulled to slide on the upper side plate 4332, and then the welding wire pulling device is driven to act. The wire drawing device comprises a base plate 442, a welding head 443, a guide tube 444, a guide motor 445, a guide wheel 446 and a wire wheel 447; the bottom of the base plate 442 is connected with a ball nut of the second screw structure 441; the guide tube 444, the guide motor 445, the guide wheel 446 and the wire bonding wheel 447 are all arranged on the substrate 442; the bonding head 443 is disposed on the side surface of the substrate 442. The base plate 442 is integrally formed as a folded plate, and includes a first folded plate and a second folded plate, which are integrally formed, and a predetermined angle is maintained between the first folded plate and the second folded plate, which is in a range of 90 ° to 180 °, such that the end of the second folded plate is close to the wire pulling structure 45. The first folded plate is arranged on the ball nut of the second screw rod structure 441; the first folded plate is parallel to the upper side plate 4332 of the second support frame 433, and may be approximately parallel due to process errors. The first folded plate is provided with a guide tube 444, a guide motor 445, a guide wheel 446 and a welding wire wheel 447; the end of the second folding plate far away from the first folding plate is provided with a welding head 443. The welding head 443 comprises a first welding head and a second welding head, and the welding head 443 can be electrified to generate heat to complete welding work; a set angle is kept between the first welding head and the second welding head; the welding head I is connected with the side face of the folded plate II; and the welding head II is close to the lead traction structure 45. A channel is formed in the welding head II and used for allowing a welding wire to pass through; by providing a passage directly within the welding head 443, the welding wire is able to pass directly through the welding head 443, facilitating heating of the welding wire. One side of the welding head II, which is far away from the welding head I, is provided with a V-shaped notch 4431, and the bottom of the V-shaped notch 4431 is provided with an arc groove, so that the wire can be attached to the welding head II. The V-notch 4431 connects the channel inside the second weld joint. Two guide wheels 446, wherein one guide wheel 446 is arranged at the output end of the guide motor 445; another guide wheel 446 is disposed in a recess on the base plate 442, and the guide wheel 446 disposed on the base plate 442 is capable of rotating within the recess on the base plate 442. The periphery of the guide wheel 446 is provided with an arc groove, the arc groove is arranged around the periphery of the guide wheel 446 in a circle, and when the two guide wheels 446 are mutually attached, the arc grooves on the periphery of the two guide wheels 446 are combined to form a through hole for passing and propelling the welding wire; the guide wheel 446 is made of an elastic material with a high friction coefficient, in this case a rubber material. The guide tube 444 is attached to the substrate 442, one end of the guide tube 444 is close to the guide wheel 446, the other end of the guide tube 444 is inserted into the second welding head, and the guide tube 444 is communicated with a channel inside the second welding head, so that the welding wire in the guide tube 444 can pass through the second welding head to reach the V-shaped notch 4431 of the second welding head. The welding wire wheel 447 is arranged at one end of the first folded plate far away from the second folded plate, and the welding wire wheel 447 is connected with the first folded plate through a support frame 4471; the support 4471 is hinged with two ends of the welding wire wheel 447, and the support 4471 is also fixedly connected with the first folded plate. In this example, the supporting frame 4471 is provided with a U-shaped notch 4472, and correspondingly, two ends of the welding wire wheel 447 are provided with hinge columns 4473; the hinge posts 4473 are positioned in the U-shaped notches 4472 to allow the support bracket 4471 and wire wheel 447 to articulate and also allow the wire wheel 447 to be easily removed from the support bracket 4471. The guide motor 445 is arranged on the first folded plate and is positioned between the guide tube 444 and the welding wire wheel 447; the output of the guide motor 445 is connected to a guide wheel 446. In the implementation process, the guide motor 445 drives the guide wheel 446 to rotate, so that the welding wire is pulled, and the welding wire wheel 447 is driven to rotate; the welding wire is fed into the guide tube 444 by the guide wheel 446 and passes through the guide tube 444 to the welding head 443; the welding joint 443 is electrically heated, and the welding operation is performed at the V-notch 4431 of the second welding joint.

The wire pulling structure 45 is disposed on the first supporting frame 431, wherein the wire pulling structure 45 includes a limiting head 451 and a connecting base 454, the limiting head 451 and the connecting base 454 are integrally formed, and the connecting base 454 is disposed between the limiting head 451 and the first supporting frame 431. The limiting head 451 is in a straight rod shape, and one end of the limiting head 451 far away from the connecting base 454 is provided with an oblique plane; a U-shaped cavity 452 is arranged at the position of the inclined plane, and the U-shaped cavity 452 does not penetrate through the limiting head 451; a lead drawing port 453 is formed in the bottom of the U cavity 452, the lead drawing port 453 is a U-shaped hole, and the lead drawing port 453 penetrates the bottom of the U cavity 452. In the implementation process, the lead can be limited at the lead drawing port 453, and the welding operation and the like can be realized by the welding head 443.

The first clamping structure 46 includes a first connecting plate 461, a lead screw structure three 462, a pneumatic finger one 463 and a lead clamp one 464; the third lead screw structure 462 is arranged on the lower side plate 4333 of the second support frame 433; the first pneumatic finger 463 is arranged at one end of the first connecting plate 461, the other end of the first connecting plate 461 is connected with the ball nut of the third screw structure 462, and the ball nut of the third screw structure 462 is further arranged on the sliding rail of the lower side plate 4333 through the sliding block; the first wire guide clamp 464 is arranged on the clamping jaw of the first pneumatic finger 463; the first pneumatic finger 463 adopts the existing pneumatic finger, the opening and closing actions of the clamping jaw of the pneumatic finger are realized through the air cylinder, and other pneumatic fingers in the following are also the existing pneumatic finger structures. The first lead clamp 464 comprises a first left lead clamp 464 part and a first right lead clamp 464 part, and the first left lead clamp 464 part and the first right lead clamp 464 part are identical in structure and are arranged in a mirror image mode. The left wire clamp I464 comprises a left connecting plate I and a left clamping block I; the left clamping block I and the left connecting plate I are integrally manufactured. The first left clamping block bulge is arranged at one end of the first left connecting plate, and the other end of the first left connecting plate is fixedly connected with the pneumatic finger; the surface of the first left clamping block is provided with a wire guide groove 465. Similarly, the right wire clamp i 464 comprises a right connecting plate i and a right clamping block i; the first right clamping block bulge is arranged at one end of the first right connecting plate, and the other end of the first right connecting plate is fixedly connected with the pneumatic finger; the surface of the right clamping block I is provided with a wire guide groove 465. The left clamping block I and the right clamping block I are arranged in a mirror image mode; when the left clamping block I and the right clamping block I are jointed, the wire grooves 465 on the left clamping block I and the right clamping block I are combined to form a through hole structure for clamping a wire. The first left connecting plate and the first right connecting plate are both arranged in a Z shape, the folded angle parts of the first left connecting plate and the first right connecting plate are both 90 degrees in the example, and the first left connecting plate and the first right connecting plate are arranged in a Z-shaped structure, so that the first left clamping block and the first right clamping block can be lifted upwards to be close to the lower side of the wire traction structure 45, and a wire clamped by the first left clamping block and the first right clamping block can be conveniently placed into a wire traction opening 453 of the wire traction structure 45. In this example, the first connecting plate 461 is also in a Z-shaped configuration, wherein the angle of the Z-shaped configuration is 90 °, in order to lift the first pneumatic finger 463 disposed on the first connecting plate 461 upward, and further lift the wire clamp 464 connected with the first pneumatic finger 463, so that the wire clamp 464 is close to the wire pulling structure 45.

The second manipulator 5 comprises a second traverse seat 51, a second rotating block 52 and a second gripping device 53; the second rotating block 52 is arranged on the second traverse seat 51; the second gripping device 53 is provided to the second rotating block 52. The second traverse mount 51 and the second rotating block 52 are similar to the first traverse mount 41 and the first rotating block 42, respectively; the second traverse seat 51 is hinged with the second rotating block 52, the hinged part of the second rotating block 52 and the second traverse seat 51 is provided with a rotating motor 411, the rotating motor 411 is connected with a control module of the electric control stand 2, and the rotating motor 411 can control the rotating angle and the rotating direction of the second rotating block 52; one end of a second hinge part 521 of the second rotating block 52 is hinged with the second traverse seat 51, a second mounting part 522 of the second rotating block 52 is arranged at the other end of the second hinge part 521, and the second hinge part 521 and the second mounting part 522 are integrally formed; the second mounting part 522 is connected with the second clamping device 53; the second hinge portion 521 is Z-shaped, and the angle of the second hinge portion 521 is 90 ° in this example. Because the first manipulator 4 and the second manipulator 5 are respectively arranged on the two sliding tables 3 in this example, and there is a position interference between the two sliding tables 3, so that the two sliding tables 3 form an up-and-down position relationship, wherein the second manipulator 5 is arranged on the sliding table 3 below, the second manipulator 5 is lifted upwards by the bevel structure of the second rotating block 52, so that the first manipulator 4 and the second manipulator 5 can be at the same height when the two sliding tables 3 are close to each other up and down, and further, the interaction between the first manipulator 4 and the second manipulator 5 is realized.

The second gripping device 53 comprises a third supporting frame 531, a fourth supporting frame 533, a first shearing and clamping structure 54, a second shearing and clamping structure 55 and a second clamping structure 56, wherein the third supporting frame 531 and the fourth supporting frame 533 are similar to the first supporting frame 431 and the second supporting frame 433, respectively; the fourth supporting frame 533 is slidably disposed on the third supporting frame 531, and the bottom plate 4331 of the fourth supporting frame 533 is disposed on the ball nut of the fourth 532 screw structure on the third supporting frame 531; the first shearing and clamping structure 54 is disposed on the upper side plate 4332 of the fourth supporting frame 533; the second shearing and clamping structure 55 is disposed at the end point position where the upper side plate 4332 and the lower side plate 4333 of the fourth supporting frame 533 are close to each other; the second clamping structure 56 is disposed on the lower plate 4333 of the fourth supporting frame 533. Through the action of the fourth screw structure 532, the fourth support frame 533 is driven to displace relative to the third support frame 531, so as to realize the movement of the first shearing and clamping structure 54, the second shearing and clamping structure 55 and the second clamping structure 56.

The first cutting and clamping structure 54 comprises a second connecting plate 541, a screw rod structure five 542, a pneumatic finger two 543, a lifting cylinder one 544, a lifting cylinder two 545 and a wire clamp two 546; the fifth screw structure 542 is disposed on the upper side plate 4332 of the fourth support frame 533; the second pneumatic finger 543 is arranged at one end of the second connecting plate 541, the other end of the second connecting plate 541 is connected with a ball nut of the fifth screw structure 542, the ball nut of the fifth screw structure 542 is further arranged on a slide rail through a slide block, and the slide rail is fixedly connected with a motor of the fifth screw structure 542; the second wire clamp 546 is arranged on the second pneumatic finger 543; the first lifting cylinder 544 is arranged between the upper side plate 4332 of the fourth supporting frame 533 and the motor of the fifth screw structure 542; the second lift cylinder 545 is disposed between the upper side plate 4332 of the fourth support frame 533 and the second connection plate 541. One end of the lifting cylinder one 544 is hinged with the upper side plate 4332 of the fourth supporting frame 533; the other end of the first lifting cylinder 544 is fixedly connected with a motor of the fifth screw rod structure 542, and the motor of the fifth screw rod structure 542 can be driven to move upwards or downwards through the action of the first lifting cylinder 544. The second connecting plate 541 is similar to the first connecting plate 461 in structure, and the second connecting plate 541 is a Z-shaped folded plate, wherein the angle is 90 °, in order to allow the pneumatic finger two 543 to sink and make the wire clamp two 546 close to the second clipping structure 55. One end of the second lifting cylinder 545 is disposed on the upper side plate 4332 of the fourth supporting frame 533, and the other end of the second lifting cylinder 545 is disposed on the lower surface of the second connecting plate 541, so that the second connecting plate 541 can be controlled to be close to or away from the upper side plate 4332 of the fourth supporting frame 533 by the action of the second lifting cylinder 545, and further the second lead clamp 546 can be controlled to be close to or away from the second shearing and clamping structure 55; the second lift cylinder 545 is a dual-axis cylinder in this example. A limiting block 547 is arranged between the second lifting cylinder 545 and the sliding block of the fifth screw rod structure 542, and the movement space of the sliding block is limited through the limiting block 547. The second wire clamp 546 includes a left wire clamp 546 and a right wire clamp 546, wherein the left wire clamp 546 and the right wire clamp 546 are arranged in a mirror image. The overall structure of the left wire clamp 546 and the right wire clamp 546 is Z-shaped to ensure that the portion of the wire clamp 546 used to clamp the wires is adjacent to the second shearing clamp structure 55. When the left wire clamp 546 and the right wire clamp 546 are attached to each other, a waist-shaped hole is formed in the attachment part, wire stripping work of the wires is facilitated through the waist-shaped hole, and wire shearing work can be achieved through the attachment part except the waist-shaped hole.

The second shearing and clamping structure 55 comprises a third pneumatic finger 551 and a third wire clamp 552, wherein the third pneumatic finger 551 is disposed on the fixing seat of the end of the upper side plate 4332 and the lower side plate 4333 of the fourth supporting frame 533 close to each other; wire clamp three 552 is disposed over pneumatic finger three 551. The wire clamp three 552 comprises a left wire clamp three 552 and a right wire clamp three 552, wherein when the left wire clamp three 552 and the right wire clamp three 552 are attached, a circular hole is formed at the attaching part and is used for clamping a wire; the lead can be cut through the bonding portion other than the circular hole.

The second clamping structure 56 comprises a third connecting plate 561, a screw rod structure six 562, a pneumatic finger four 563, and a wire clamp four 564, wherein the screw rod structure six 562 is disposed on the lower side plate 4333 of the fourth supporting frame 533; the four pneumatic fingers 563 are arranged at one end of the third connecting plate 561, the other end of the second connecting plate 541 is connected with the ball nut of the six lead screw structure 562, and the ball nut of the six lead screw structure 562 is further arranged on the slide rail of the lower side plate 4333 of the fourth supporting frame 533 through a slider; wire clamp four 564 is disposed on the jaw of pneumatic finger four 563. The third connecting plate 561 is similar in construction to the first connecting plate 461, and the third connecting plate 561 is generally Z-shaped for the purpose of allowing the wire clamp 564 to be adjacent to the second shearing clamp structure 55. Wire clamp four 564 includes a left wire clamp four 564 and a right wire clamp four 564, where the left wire clamp four 564 and the right wire clamp four 564 are arranged in mirror image. When the four 564 of left wire clamp and the four 564 of right wire clamp are laminated, a through hole is formed in the laminating part and used for clamping a wire, and meanwhile, the surfaces, which are mutually laminated, of the left wire clamp and the right wire clamp are wavy, so that the firmness of the clamped wire is ensured.

The image capturing device is disposed on the first robot 4, and may be located on the upper side plate 4332 of the second support frame 433 or the base plate 442 of the welding tractor. The image acquisition device is used for acquiring a captured image of the lead, a welding image of the lead and the like.

As shown in fig. 9 and 10, the robot for welding the connection wire further includes a sleeve device 6, wherein the sleeve device 6 is also disposed on the electrically controlled vertical frame 2 through the sliding table 3, and the sliding table 3 corresponding to the sleeve device 6 is located below the sliding table 3 corresponding to the first manipulator 4 and the second manipulator 5 in this example. The sleeve device 6 comprises a third traverse seat 61, a third rotating block 62, a lead screw structure seven 63, a sleeve platform 64 and a sleeve device 66; the third traverse seat 61 is hinged with the third rotating block 62, a rotating motor 411 is arranged at the hinged part of the third rotating block 62 and the third traverse seat 61, the rotating motor 411 is connected with a control module of the electric control stand 2, and the rotating motor 411 can control the rotating angle and the rotating direction of the third rotating block 62; the third traverse seat 61 is connected with the slide block of the sliding table 3; the lead screw structure seven 63 is arranged on the third rotating block 62; the casing device 66 is disposed on the casing platform 64; the casing platform 64 is arranged on the ball nut of the screw structure seven 63, in this example, a support column 65 is arranged between the casing platform 64 and the ball nut of the screw structure seven 63, and the casing platform 64 is lifted upwards through the support column 65, so that the casing device 66 on the casing platform 64 can be in the same plane with the first manipulator 4 and the second manipulator 5. The sleeving apparatus 66 comprises a wire numbering machine; the wire numbering machine adopts the existing wire numbering machine equipment, wherein the wire numbering machine is used for producing coded tubes with numbers and finishing the cutting of the coded tubes. In some other embodiments, the sleeving operation of the wires can be completed by manual sleeving, and the wires after sleeving are placed on the lead frame.

As shown in fig. 11 and 12, the lead frame 1 is disposed on the signal cabinet, wherein the lead frame 1 is provided with uniformly arranged lead hooks 11, so that leads to be soldered can be disposed on the lead hooks 11 one by one, which is convenient for the first manipulator 4 to grab the leads.

In the implementation process, the lead can be taken down from the lead frame 1 through the first clamping structure 46 arranged on the first manipulator 4, and the work of cutting, stripping and the like of the lead can be realized through the second manipulator 5, so that the automation of the welding process is realized, and the efficiency is improved; through set up vertical ball structure 23 on automatically controlled founding frame 2's motion plate 22 and set up horizontal ball structure 34 on the motion frame of slip table 3, realize first manipulator 4, second manipulator 5 and sleeve device 6 about, adjust, combine screw structure 432 one ~ seven, greatly promoted the nimble degree of clamping device and shearing clamping device etc. on the manipulator.

It should be noted that the welding robot described above can be controlled by an existing control technique.

A welding method of a robot for welding a wire, comprising the steps of:

step 1: the control module controls and adjusts the rotation angles between the transverse ball screw structure 34 and the vertical ball screw structure 23 corresponding to the first manipulator 4 and between the first traverse seat 41 and the first rotating block 42; moving the first manipulator 4 to a set position for clamping the wire;

step 2: starting the motor of the third lead screw structure 462 to move the first clamping structure 46 to the set position of the lead frame 1;

and step 3: starting a pneumatic finger one 463 to control a lead clamp one 464 to clamp the lead;

and 4, step 4: the image acquisition device acquires images and transmits the images to the control module of the electric control stand 2; the control module judges whether the conductor is clamped or not according to the trained image recognition model; if the lead is not clamped, returning to the step 1; if the wire is clamped, entering step 5;

and 5: the control module controls the motor to adjust the position of the second manipulator 5 relative to the first manipulator 4, so that the second clamping structure 56 of the second manipulator 5 is positioned right below the first clamping structure 46 of the first manipulator 4;

step 6: controlling the clamping air pressure of the pneumatic finger four 563 and the opening angle of the clamping jaw thereof, so that the wire clamp four 564 clamps the wire at the set pressure and opening angle;

and 7: controlling the sliding table 3 corresponding to the second manipulator 5 to move downwards for a set distance;

and 8: controlling the second pneumatic finger 543 and the third pneumatic finger 551 to open;

and step 9: starting a motor of a screw structure IV 532 and a motor of a screw structure VI 562; the wire clamp four 564 is contracted towards the motor direction of the screw rod structure six 562, and meanwhile, the second clamping device 53 integrally extends towards the motor direction far away from the screw rod structure four 532; the three wire clamp 552, the four wire clamp 564 and the one wire clamp 464 are positioned on the same vertical straight line;

step 10: starting a motor of the screw structure five 542 to enable the first lead clamp 464-fourth lead clamps to be positioned on the same vertical straight line; and the second lead clamp 546 and the third lead clamp 552 are separated by a set distance;

step 11: closing the pneumatic finger II 543, and cutting the lead through the lead clamp II 546;

step 12: opening the pneumatic finger II 543, starting the lifting cylinder I544, and sinking the wire guide clamp II 546 for a set distance X, so that the wire guide clamp II 546 is close to the wire guide clamp III 552;

step 13: closing the pneumatic finger II 543, and cutting the insulating skin on the outer layer of the lead through the waist-shaped hole structure on the lead clamp II 546;

step 14: starting a second lifting cylinder 545, lifting the wire clamp upwards by a set distance X', forming an exposed wire part, and finishing wire stripping work;

step 15: controlling the first manipulator 4 to enable the welding device 44 to carry out tin rinsing treatment on the exposed lead wire part;

step 16: opening the pneumatic finger II 543 to control the lifting cylinder II 545 to sink; then the second pneumatic finger 543 is closed, the lead is cut off through the second lead clamp 546, and the exposed lead of the tin rinsing part is reserved;

and step 17: opening the first pneumatic finger 463 to enable the first wire clamp 464 to release the cut wires;

step 18: starting a wire marking machine to generate a coded tube;

step 19: moving the first mechanical arm 4 to enable the wire clamp one 464 on the pneumatic finger one 463 to clamp the coding tube; cutting off the coding tube by a wire size machine;

step 20: moving the first mechanical arm 4 to enable the first wire clamp 464 to be positioned right above the second wire clamp 546; controlling the first mechanical arm 4 to move downwards, and sleeving the coding sleeve clamped on the first wire clamp 464 into a wire; opening the first pneumatic finger 463 to enable the first wire clamp 464 to release the coding tube;

step 21: opening a pneumatic finger II 543 and a pneumatic finger III 551; the motor of the fourth screw structure 532 is started to enable the fourth wire clamp 564 to extend towards the direction away from the motor of the sixth screw structure 562, and meanwhile, the motor of the second screw structure 441 is started to enable the second clamping device 53 to integrally contract towards the direction of the motor of the fourth screw structure 532; the lead clamp four 564 and the lead clamp one 464 are in the same vertical straight line, and the lead clamp two 546 and the lead clamp three 552 are contracted inwards;

step 22: moving the second manipulator 5 upwards to send the wire between the wire clamp 464 and the wire traction structure 45; closing the first pneumatic finger 463 to enable the first wire clamp 464 to clamp the wire;

step 23: controlling the motor of the third lead screw structure 462 to enable the first lead clamp 464 to contract for a set distance in the direction close to the motor of the third lead screw structure 462, so as to form a dislocation state of the first lead clamp 464 and the limiting head 451 of the lead traction structure 45, wherein the limiting head 451 extends out relative to the first lead clamp 464;

step 24: controlling the first mechanical arm 4 to move, and positioning the lead traction structure 45 at the corresponding welding hole part;

step 25: controlling the motor of the third lead screw structure 462 to enable the first lead clamp 464 to extend a set distance in the direction away from the motor of the third lead screw structure 462; leading the lead to penetrate into the welding hole part;

step 26: and controlling the welding device 44 to complete welding, and ending the step.

And the model training in the step 4 adopts a conventional image recognition model training method. If the conductor is not clamped, the process returns to the step 1, and the position of the first manipulator 4 is adjusted according to the identified image, so that the clamping of the conductor is completed.

When the second clamping structure 56 of the second manipulator 5 is located right below the first clamping structure 46 of the first manipulator 4 in step 5, the first shearing clamping structure 54 and the second shearing clamping structure 55 of the second manipulator 5 are in an open state, or the wire clamp four 564 is extended in a direction away from the motor of the screw structure six 562 through the screw structure six 562, in this example, the wire clamp four 564 is extended in a manner for avoiding interference with the second clamping structure 56.

And 7, straightening the lead to avoid knotting and winding and the like.

The set distance X' of the lifting in the step 14 is smaller than the set distance X of the sinking in the step 12, so that the stripped insulating rubber is still on the wire and is not separated from the wire, and meanwhile, a section of exposed copper wire or other conductive and communication materials are formed on the wire, thereby ensuring that the exposed copper wire or other conductive and communication materials cannot be opened and can be twisted into a strand.

It should be noted that, in some other embodiments, after the welding is completed in step 26, an image of the welding hole is collected by the image collecting device, and according to a pre-trained model, whether the welding of the welding hole meets the set requirement is determined, and if the welding does not meet the set requirement, a warning is issued to request an operator to perform a manual welding operation.

In the implementation process, the first mechanical arm 4 and the second mechanical arm 5 are matched to complete the wire cutting, wire stripping and welding operations of the wires, so that the efficiency is improved, and the labor cost is reduced; by arranging the image recognition device, whether the grabbing of the lead and the welding process of the lead are smoothly carried out or not is judged, the intelligent degree of the device is improved, and the smooth operation of the welding work of the robot is effectively ensured; through at the wire stripping in-process, keep the insulating rubber skin of peeling off on the wire, until accomplish through welding set 44 and rinse tin after handling, just get rid of the insulating rubber skin of peeling off, effectively avoid the copper wire or other electrically conductive, communication material dispersion of wire inside.

Example two:

as shown in fig. 13 to 16, the present embodiment is modified based on the embodiment in which the first communication verification device 7 is disposed on the lead frame 1. The first communication verification device 7 comprises a first bottom plate 71, a lifting rod 72, a first blade head 73, a blade rod 74 and a blade frame 75; the lifting rod 72 is arranged on the first base plate 71, and the lifting rod 72 can move in a waist-shaped hole space arranged on the first base plate 71; the blade holder 75 is arranged on the first bottom plate 71; the blade bars 74 are arranged on the blade holders 75, two blade bars 74 are arranged in each blade holder 75, and one blade bar 74 is fixedly arranged on the blade holder 75; the other blade bar 74 is slidably arranged in the blade holder 75, one end of the blade bar 74 is connected with the lifting rod 72, and the blade bar 74 is driven to move by the action of the lifting rod 72; the first blade heads 73 are uniformly arranged on the blade bars 74; the blade heads 73 of the two blade bars 74 in the same blade holder 75 correspond to each other.

The first bottom plate 71 is provided with two connecting seats 711, and the two connecting seats 711 are correspondingly arranged on the first bottom plate 71. Waist-shaped holes are formed in the connecting seats 711, and the lifting rods 72 are arranged on the two connecting seats 711 and located in the waist-shaped holes. The connecting seat 711 is also provided with a fixing hole which is positioned on the side surface of the waist-shaped hole; the fixing holes are internally and fixedly provided with fixing columns 76, elastic pieces 77 are arranged between the fixing columns 76 and the lifting rods 72, and pressure is applied to the lifting rods 72 through the elastic pieces 77, so that the lifting rods 72 can be positioned at one ends in the waist-shaped holes when not taking up external force. The first bottom plate 71 is further provided with at least one protruding blade holder 75, in this example, three blade holders 75 are provided, wherein the three blade holders 75 are arranged in parallel. The blade holder 75 includes a lower frame 751 and an upper frame 752, wherein the lower frame 751 is disposed on the first base plate 71, one end of the lower frame 751 is connected to the upper frame 752, and a set distance is maintained between the lower frame 751 and the upper frame 752. A groove is arranged on the side where the lower rack 751 and the upper rack 752 are close to each other, wherein the groove on the lower rack 751 is used for fixing the blade bar 74; the grooves on the upper frame 752 are used to slidably mount the blade bars 74 such that the blade bars 74 mounted on the upper frame 752 can slide along the grooves on the upper frame 752. The upper frame 752 has one end connected to the lower frame 751 and the other end having an opening that faces the pull rod 72 to allow the blade bar 74 of the upper frame 752 to be fixedly connected to the pull rod 72.

The first blade head 73 is provided with V-shaped grooves, wherein two adjacent V-shaped grooves are formed in the first blade head 73 of the blade bar 74 fixedly arranged on the lower frame 751, and one V-shaped groove is correspondingly formed in the first blade head 73 of the blade bar 74 slidably arranged on the upper frame 752; alternatively, a V-shaped groove is formed in the first blade head 73 of the blade bar 74 fixedly disposed on the lower frame 751, and two adjacent V-shaped grooves are correspondingly formed in the first blade head 73 of the blade bar 74 slidably disposed on the upper frame 752.

In the implementation process, the lifting rod 72 is pulled upwards to drive the blade rods 74 fixed with the lifting rod 72 to move, in addition, the fixed blade rods 74 are further arranged in the blade holder 75, the mutual approaching of the corresponding blade heads 73 on the two blade rods 74 in the blade holder 75 is realized, and by combining the structure of a V-shaped groove, when the blades on the two blade rods 74 approach each other, the part provided with the V-shaped groove can puncture the insulating rubber on the outer layer of the lead without cutting the lead, and on the other hand, the contact between the blade heads and the copper or other conductive and communication materials in the lead can be used for checking whether the lead is conducted, so that the efficiency is improved. And after the conduction of the conducting wire is verified, welding is carried out by the manipulator.

Example three:

as shown in fig. 17 and 18, the present embodiment is modified based on the first embodiment, wherein a second communication verification device 8 is disposed on the lead frame 1. The second communication verifying device 8 comprises a second bottom plate 81, a sliding plate 83, a second blade head 86 and a limiting device 87, wherein the sliding plate 83 is arranged on a sliding rail of the second bottom plate 81 in a sliding manner; the limiting device 87 is arranged between the second bottom plate 81 and the sliding plate 83 and used for limiting the sliding range between the second bottom plate 81 and the sliding plate 83; the second blade head 86 is uniformly arranged on the second bottom plate 81 and the sliding plate 83. The limiting device 87 is a micrometer, one end of the limiting device 87 is arranged on the second bottom plate 81, and the other end of the limiting device 87 is located on the sliding track of the sliding plate 83, so that the movement space of the sliding plate 83 relative to the second bottom plate 81 can be limited by adjusting the length of the limiting device 87.

Blade grooves are uniformly formed in the sliding plate 83 and the second bottom plate 81 and used for arranging blades; the sliding plate 83 is also provided with a first wire guide hole 84 and a fixing hole 85, the first wire guide hole 84 and the fixing hole 85 are both arranged corresponding to a second blade head 86 on the sliding plate 83, and the fixing hole 85 is arranged in a blade groove on the sliding plate 83; the first wire guide hole 84 penetrates through the sliding plate 83 and reaches the part, used for cutting, of the second blade head 86; the fixing hole 85 penetrates through the sliding plate 83 and is connected with the second blade head 86 arranged on the sliding plate 83, and is used for fixing the second blade head 86. The second bottom plate 81 is provided with a second wire guide hole 82, the second wire guide hole 82 corresponds to a first wire guide hole 84 on the reset sliding plate 83, so that when the sliding plate 83 is reset, a wire inserted through the first wire guide hole 84 can go deep into the second wire guide hole 82, and the second blade head 86 arranged on the sliding plate 83 and the second bottom plate 81 can conveniently cut the insulating outer layer of the wire. The second bottom plate 81 is also provided with a fixing hole 85, and the fixing hole 85 is arranged in the blade groove on the second bottom plate 81 and used for fixing the blade arranged on the second bottom plate 85. In this example, the inner wall of the fixing hole 85 is provided with a conductive material, so that the second blade head 86 arranged on the sliding plate 83 is connected with the circuit board arranged in the sliding plate 83, and the second blade head 86 arranged on the second bottom plate 81 is connected with the circuit board arranged in the second bottom plate 81 through the conductive material in the fixing hole 85. The circuit board is provided with a lamp bead.

An elastic element is arranged between the sliding plate 83 and the second bottom plate 81. The sliding plate 83 slides relative to the second bottom plate 81 through external force, so that the sliding plate 83 contacts the limiting device 87 to realize limiting; after the external force is released, the sliding plate 83 is reset by the elastic member.

In the implementation process, a lead is inserted into the first wire guide 84 through the first wire guide 84 arranged on the sliding plate 83 and goes deep into the second wire guide 82 on the second bottom plate 81, the sliding plate 83 slides upwards, so that the second blade head 86 arranged on the second bottom plate 81 is matched with the second blade head 86 arranged on the sliding plate 83 to cut rubber on the outer layer of the lead, after the insulating outer layer is cut, the second blade head 86 is contacted with a copper wire or other conductive and communication materials in the lead, and the conduction verification of the lead is realized by inserting a verification terminal into the fixing hole 85; the sliding range of the sliding plate 83 can be limited by arranging the limiting device 87, so that the cutting depth of the second blade head 86 is limited, the lead cannot be cut off, and the lead can adapt to leads of different specifications.

A communication verification method, comprising the steps of:

step S1: adjusting the limiting device 87;

step S2: the sliding plate 83 cuts the outer insulating layer of the conducting wire through the second blade head 86 on the sliding plate 83 and the second blade head 86 on the second bottom plate 81;

step S3: whether a lamp bead arranged on the circuit board is on or not is observed; if the first lamp bead is bright, the second blade head 86 is indicated to cut the insulating outer layer of the lead, and the step S4 is carried out; if the first lamp bead is not lightened, the second blade head 86 does not cut the insulating outer layer of the lead, and the step S1 is returned;

step S4: keeping the slide 83 in contact with the stop 87; and checking the wiring connection condition of the lead through the lamp beads arranged on the circuit board, and ending the step.

In step S3, the circuit board is located on the sliding plate 83 and the second bottom plate 81, wherein the circuit board is further connected to the second blade head 86, and if the first lamp bead on the circuit board is bright, it indicates that the second blade head 86 on the sliding plate 83 and the second blade head 86 on the second bottom plate 81 are conducted through the conducting wire, so that the first lamp bead forms a closed loop, and thus the first lamp bead emits light.

In step S4, the verification of the connection condition of the wire leads indicates the conduction condition between two devices connected to the two ends of the wire. The signal cabinet which is connected through the wire transmits signals to the wire, and the wire transmission signals are transmitted to external signal detection equipment through the circuit board and the second blade head 86, wherein the signal detection equipment can be a computer; if signal detection equipment detects the signal, then the lamp pearl two that set up on can the control scheme board are luminous, prove that the wire is switched on, can transmit signal. Wherein set up the lamp pearl second for the convenience of direct observation wire switch on the condition. And after the conduction of the conducting wire is verified, welding is carried out by a manipulator.

The above description is only one specific example of the present invention and should not be construed as limiting the invention in any way. It will be apparent to persons skilled in the relevant art(s) that, having the benefit of this disclosure and its principles, various modifications and changes in form and detail can be made without departing from the principles and structures of the invention, which are, however, encompassed by the appended claims.

Claims (6)

1. A wire welding robot is characterized by comprising a lead frame, an electric control vertical frame, a sliding table, an image acquisition device, a first manipulator and a second manipulator; the first manipulator and the second manipulator are respectively connected with the sliding table through sliding structures, the sliding table is connected with the electric control vertical frame through the sliding structures, and the sliding structures are ball screw structures; the image acquisition device is arranged on the first manipulator or the second manipulator; the lead frame is fixedly arranged on a signal cabinet to be welded, the electric control vertical frame comprises a box body, a moving plate and a control module, the control module is used for controlling the actions of the first mechanical arm, the second mechanical arm and the sliding table, the control module is also connected with the image acquisition device and used for processing and identifying images acquired by the image acquisition device, and the moving plate is used for being connected with the sliding table; the moving plate is provided with a vertical ball screw structure, and the sliding table comprises a moving frame and a transverse ball screw structure; the transverse ball screw structure is arranged on the moving frame; the moving frame is connected with a sliding block on a sliding rail arranged on the moving plate; the transverse ball screw structure is connected with the first manipulator or the second manipulator, and the first manipulator comprises a first transverse moving seat, a first rotating block and a first clamping device; the first rotating block is hinged to the first transverse moving seat and can rotate around the hinged part; a rotating motor is arranged at the hinged part of the first rotating block and the first transverse moving seat, and the second manipulator comprises a second transverse moving seat, a second rotating block and a second clamping device; the second rotating block is arranged on the second transverse moving seat; the second clamping device is arranged on the second rotating block; the second transverse moving seat is hinged with the second rotating block, a rotating motor is arranged at the hinged part of the second rotating block and the second transverse moving seat, and the control module is arranged in the box body; the moving plate is arranged on one side surface of the box body and is vertically arranged; the control module adopts a programmable singlechip, and the motion frame comprises an upper rail, a lower rail and a side connecting block; the side connecting block is positioned at one end of the upper rail and the lower rail, and the upper rail and the lower rail are arranged on the side connecting block in parallel; the upper rail and the lower rail are located in the Z direction, the sliding connection of the first mechanical arm and the second mechanical arm with the sliding table is achieved through the upper rail and the lower rail structure of the sliding table, and the structural strength of the moving frame is enhanced through the side connecting blocks at the two ends of the upper rail and the lower rail.

2. The wire bonding robot of claim 1, wherein the vertical ball screw structure comprises a vertical motor, a vertical screw, and a vertical ball nut; the vertical lead screw is arranged in the Y direction; two ends of the vertical screw rod are respectively connected with the moving plate through bearings; one end of the vertical screw rod is also provided with a vertical motor; the vertical ball nut is arranged on the vertical screw through a ball; the vertical ball nut is also connected with the sliding table.

3. The wire bonding robot of claim 2, wherein the lateral ball screw structure comprises a lateral motor, a lateral screw, and a lateral ball nut; the transverse screw rod is positioned in the Z direction; the transverse screw rod is also connected with the moving frame through a bearing; the transverse motor is arranged on the moving frame.

4. The wire bonding robot of claim 3, wherein the first gripper comprises a first support frame, a second support frame, a bonding device, a wire pulling structure, and a first clamping structure; the second support frame is arranged on the first support frame in a sliding mode through the first screw rod structure; the welding device is arranged on the upper side plate of the second support frame in a sliding manner; the shearing clamping structure is arranged on the lower side plate of the second supporting frame in a sliding manner; the wire traction structure is arranged on the second support frame; the first support frame is arranged in the hollow part of the first mounting part of the first rotating block;

the welding device comprises a lead screw structure II and a welding wire traction device; the second lead screw structure is arranged between the welding wire traction device and the upper side plate of the second support frame and is used for controlling the relative displacement between the welding wire traction device and the second support frame;

the welding wire traction device comprises a substrate, a welding head, a guide pipe, a guide motor, a guide wheel and a welding wire wheel; the bottom of the base plate is connected with a ball nut of the second screw structure; the guide tube, the guide motor, the guide wheel and the welding wire wheel are all arranged on the substrate; the welding head is arranged on the side surface of the substrate; the guide tube, the guide motor and the guide wheel are used for drawing the welding wire; the welding wire wheel is used for storing welding wires; the welding head is used for welding the welding wire;

the wire traction structure is arranged on the first support frame, wherein the wire traction structure comprises a limiting head and a connecting base, the limiting head and the connecting base are integrally manufactured, and the connecting base is arranged between the limiting head and the first support frame;

the limiting head is used for limiting the movement space of the lead;

the first clamping structure comprises a first connecting plate, a screw rod structure III, a pneumatic finger I and a wire clamp I; the screw rod structure III is arranged on the lower side plate of the second support frame; the first pneumatic finger is arranged at one end of the first connecting plate, the other end of the first connecting plate is connected with the ball nut of the third screw structure, the ball nut of the third screw structure is further arranged on the slide rail of the lower side plate through a slide block, and the third screw structure is used for controlling the relative movement between the first connecting plate and the second supporting frame; the first wire clamp is arranged on the clamping jaw of the first pneumatic finger.

5. The wire bonding robot of claim 4, wherein the second gripper comprises a third support frame, a fourth support frame, a first shearing and clamping structure, a second shearing and clamping structure, and a second clamping structure; the fourth supporting frame is arranged on the third supporting frame in a sliding mode, and a bottom plate of the fourth supporting frame is arranged on a ball nut of the screw structure IV on the third supporting frame; the first shearing and clamping structure is arranged on the upper side plate of the fourth supporting frame; the second shearing and clamping structure is arranged at one end, close to each other, of the upper side plate and the lower side plate of the fourth supporting frame; the second clamping structure is arranged on the lower side plate of the fourth supporting frame;

the first shearing and clamping structure comprises a second connecting plate, a screw rod structure five, a pneumatic finger two, a lifting cylinder one, a lifting cylinder two and a wire clamp two; the screw rod structure V is arranged on the upper side plate of the fourth supporting frame; the pneumatic finger II is arranged at one end of the second connecting plate, the other end of the second connecting plate is connected with the ball nut of the screw structure V, the ball nut of the screw structure V is further arranged on a sliding rail through a sliding block, and the sliding rail is fixedly connected with the motor of the screw structure V; the second wire clamp is arranged on the second pneumatic finger; the first lifting cylinder is arranged between the upper side plate of the fourth supporting frame and the motor of the fifth screw rod structure; the second lifting cylinder is arranged between the upper side plate of the fourth supporting frame and the second connecting plate;

the second shearing and clamping structure comprises a third pneumatic finger and a third wire clamp, wherein the third pneumatic finger is arranged on a fixed seat at one end, close to the upper side plate and the lower side plate of the fourth supporting frame, of the fourth supporting frame; the third wire clamp is arranged on the third pneumatic finger;

the second clamping structure comprises a third connecting plate, a screw rod structure six, a pneumatic finger four and a wire clamp four, wherein the screw rod structure six is arranged on a lower side plate of the fourth supporting frame; the pneumatic finger four is arranged at one end of the third connecting plate, the other end of the second connecting plate is connected with the ball nut of the screw structure six, and the ball nut of the screw structure six is further arranged on a sliding rail of a lower side plate of the fourth supporting frame through a sliding block; the wire clamp IV is arranged on the clamping jaw of the pneumatic finger IV.

6. The wire welding robot according to claim 5, wherein the first manipulator and the second manipulator are respectively arranged on the electrically controlled vertical frame through two sliding tables, wherein the sliding table of the first manipulator is positioned above the second manipulator;

the lead frame is used for arranging leads needing to be welded; the lead frame is provided with a lead hook or a communication calibration device; the communication checking device is used for checking the conduction condition of the lead;

the electric control vertical frame is characterized by also comprising a sleeve device, wherein the sleeve device is arranged on the electric control vertical frame through a sliding table; the sleeve device comprises a third transverse moving seat, a third rotating block, a lead screw structure seven, a sleeve platform and sleeve equipment; the third transverse moving seat is hinged with the third rotating block, and a rotating motor is arranged at the hinged part of the third rotating block and the third transverse moving seat; the third transverse moving seat is connected with a sliding block of the sliding table; the screw rod structure seventh is arranged on the third rotating block; the casing equipment is arranged on the casing platform; the sleeve platform is arranged on the ball nut of the lead screw structure seven.

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