CN114951884A - Robot tail end execution device for soldering iron welding - Google Patents
Robot tail end execution device for soldering iron welding Download PDFInfo
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- CN114951884A CN114951884A CN202210381477.3A CN202210381477A CN114951884A CN 114951884 A CN114951884 A CN 114951884A CN 202210381477 A CN202210381477 A CN 202210381477A CN 114951884 A CN114951884 A CN 114951884A
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- wire feeding
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- 238000005476 soldering Methods 0.000 title claims abstract description 70
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 title claims abstract description 44
- 238000003466 welding Methods 0.000 title claims abstract description 34
- 229910052742 iron Inorganic materials 0.000 title claims abstract description 22
- 238000009434 installation Methods 0.000 claims description 16
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 claims description 12
- 239000012636 effector Substances 0.000 claims description 11
- 229910000679 solder Inorganic materials 0.000 claims description 8
- 230000003287 optical effect Effects 0.000 claims description 3
- 238000005452 bending Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K3/00—Tools, devices, or special appurtenances for soldering, e.g. brazing, or unsoldering, not specially adapted for particular methods
- B23K3/02—Soldering irons; Bits
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K3/00—Tools, devices, or special appurtenances for soldering, e.g. brazing, or unsoldering, not specially adapted for particular methods
- B23K3/06—Solder feeding devices; Solder melting pans
- B23K3/0607—Solder feeding devices
- B23K3/063—Solder feeding devices for wire feeding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Electric Connection Of Electric Components To Printed Circuits (AREA)
Abstract
The invention discloses a robot tail end executing device for soldering iron welding, which comprises a main component, a welding unit, a wire feeding unit and an image recognition unit, wherein the welding unit is connected with the main component through a wire feeding unit; the welding unit is fixedly arranged on the first mounting surface, the wire feeding unit is fixedly arranged on the second mounting surface, the camera in the image recognition unit is fixedly arranged on the third mounting surface, and the annular light source in the image recognition unit is fixedly arranged on the fourth mounting surface; according to the invention, the light sources and the cameras in the welding unit, the wire feeding unit and the image recognition unit are respectively arranged on the four mounting surfaces of the mounting block at the bottom of the main component, the structure is simple and compact, the wire feeding distance is short, the phenomena of wire clamping, wire bending and wire breaking caused by the increase of wire feeding resistance due to the overlong wire feeding distance are avoided, and the production economy is improved.
Description
Technical Field
The invention relates to the technical field of welding robots, in particular to a robot tail end executing device for soldering iron welding.
Background
The soldering technology is an old and innovative welding technology, and has very wide application in the aspects of basic research, practical application and the like. Therefore, as the application of soldering technology becomes more and more extensive, the automation, flexibility and intelligence of product welding and manufacturing become inevitable trends, and the adoption of automatic soldering based on a robot becomes a mark for the automation of the welding technology.
Many flatiron welding robots in the existing market are easy to cause wire clamping, wire bending and wire breaking phenomena due to the fact that the wire feeding resistance is increased due to the overlong wire feeding distance.
In view of the above-mentioned drawbacks, the inventors of the present invention have finally obtained the present invention through a long period of research and practice.
Disclosure of Invention
In order to solve the technical defects, the technical scheme adopted by the invention is that the robot tail end execution device for soldering iron welding comprises a main component, a welding unit, a wire feeding unit and an image recognition unit; the welding unit, the wire feeding unit and the image recognition unit are all fixedly arranged at the tail end of the robot arm through the main component;
the welding unit is fixedly arranged on the first mounting surface, the wire feeding unit is fixedly arranged on the second mounting surface, a camera in the image recognition unit is fixedly arranged on the third mounting surface, and an annular light source in the image recognition unit is fixedly arranged on the fourth mounting surface.
Preferably, the main structural member comprises a cylindrical rod piece and two mounting blocks; one end of the cylindrical rod piece is the flange end, the other end of the cylindrical rod piece is a thin rod end, and the two mounting blocks are clamped and fixed on the thin rod end; the mounting blocks are provided with semicircular arc plates, the inner arc surfaces of the semicircular arc plates are attached to the arc surfaces of the ends of the thin rods, connecting threaded holes are correspondingly formed in the semicircular arc plates of the two mounting blocks, and connecting bolts are simultaneously in threaded connection with the two correspondingly-arranged connecting threaded holes, so that the two mounting blocks are fixedly connected and are arranged on the ends of the thin rods in a clamping manner.
Preferably, the welding unit comprises a switching mounting plate, an arc-shaped chute, a soldering bit assembly and a wire feeding nozzle assembly; a countersunk hole is formed above the switching mounting plate to be connected with the first mounting surface of the main component, and a waist-shaped hole is formed below the switching mounting plate to be connected with the arc-shaped sliding groove; the arc-shaped sliding groove can move in the waist-shaped hole of the switching mounting plate, the two ends of the arc-shaped sliding groove are respectively provided with the soldering iron head assembly and the wire feeding nozzle assembly, and the soldering iron head assembly and the wire feeding nozzle assembly can move on the arc-shaped sliding groove.
Preferably, the soldering bit assembly comprises a soldering bit, a soldering bit mounting block, a guide rail sliding block set, a sliding block mounting plate and a guide rail mounting plate, the soldering bit passes through the soldering bit mounting block and is connected with the guide rail sliding block set, a guide rail and a sliding block in the guide rail sliding block set are connected in a sliding mode, the sliding block passes through the sliding block mounting plate and is connected with the soldering bit mounting block, the guide rail passes through the guide rail mounting plate and is connected with the arc-shaped sliding groove, and two ends of a spring are fixed to the sliding block mounting plate and the guide rail mounting plate respectively through fixing screws.
Preferably, the soldering bit mounting block is two clamping blocks fixed on the soldering bit in a clamping manner, and the two clamping blocks are connected through threads to clamp the soldering bit tightly.
Preferably, an optical axis arranged on the soldering bit mounting block is inserted into an unthreaded hole arranged on the slider mounting plate, a through threaded hole is radially formed in the wall of the unthreaded hole of the slider mounting plate, a set screw is connected to the through threaded hole in a threaded manner, and the relative angle between the soldering bit mounting block and the slider mounting plate can be fixed through the set screw.
Preferably, the guide rail mounting plate is provided with the guide rail on one side, and the other side is provided with a connecting shaft, the end face of the connecting shaft is provided with a first threaded connecting hole, and a first connecting screw passes through the first threaded connecting hole and is fixedly connected with the arc-shaped sliding groove.
Preferably, the wire feeding nozzle assembly comprises a wire feeding nozzle, a long rectangular block, a square rectangular block, a long rod and a cylindrical block, the wire feeding nozzle is fixedly arranged on the long rectangular block, one end of the long rectangular block is provided with a first connecting through hole, and an adjusting screw fixes the long rectangular block on the side surface of the square rectangular block through the first connecting through hole; the front surface of the square rectangular block is provided with an eccentric through hole, the long rod penetrates through the eccentric through hole, the other side surface of the square rectangular block is provided with a first locking threaded hole, a first locking screw is arranged in the first locking threaded hole, and the relative position of the square rectangular block and the long rod is fixed through the first locking screw; the cylindrical surface of the cylindrical block comprises a second connecting through hole and a second locking threaded hole, the axes of the second connecting through hole and the second locking threaded hole are vertically intersected, the long rod is arranged in the second connecting through hole, a second locking screw is arranged in the second locking threaded hole in an internal thread mode, and the relative position of the cylindrical block and the long rod is fixed through the second locking screw; and one end face of the cylindrical block is provided with a second threaded connecting hole, and a second connecting screw is fixedly connected with the arc-shaped sliding groove through the second threaded connecting hole.
Preferably, the wire feeding unit comprises a tin wire coil, a wire feeder and a mounting rack; the mounting bracket is including first mounting panel, second mounting panel and the third mounting panel that splices each other fixedly, first mounting panel with the main structure the second installation face is connected, tin silk coil is fixed to be set up on the second mounting panel, it is fixed to set up to send a silk on the third mounting panel, send a silk mouth of advancing of silk machine to be close to tin silk coil sets up, send a silk mouth of going out of silk machine to correspond send a silk mouth to set up.
Preferably, the image recognition unit comprises the annular light source, the camera, a light source mounting plate and a camera mounting plate; the light source mounting panel includes annular plate and vertical board, the annular plate with vertical board fixed connection, annular light source is fixed to be set up on the annular plate, vertical board with the main junction component the fourth installation face is connected, the one side of camera mounting panel is fixed to be provided with camera, the another side with the main junction component the third installation face is connected, the camera is located directly over annular light source, just the camera lens with annular light source sets up with one heart.
Compared with the prior art, the invention has the beneficial effects that: the invention has the advantages that 1, the light source and the camera in the welding unit, the wire feeding unit and the image recognition unit are respectively arranged on the four mounting surfaces of the mounting block at the bottom of the main component, the structure is simple and compact, the wire feeding distance is short, the phenomena of wire clamping, wire bending and wire breaking caused by the increase of the wire feeding resistance due to the overlong wire feeding distance are avoided, and the production economy is improved; 2, the welding unit adopts a design of a waist-shaped hole and an arc-shaped sliding groove, and can be adjusted in distance and angle; 3, the soldering bit assembly and the wire feeding nozzle assembly are separately connected, so that the respective adjustment of the soldering bit assembly and the wire feeding nozzle assembly is realized, the mutual interference is avoided, in addition, the soldering bit assembly and the wire feeding nozzle assembly can be adjusted in a large range on distance and angle, the time for teaching and debugging can be greatly shortened, and more complex working conditions can be met; 4, the soldering bit assembly adopts the design of the spring and the linear guide rail sliding block set, so that the elasticity and the stroke of the soldering bit are increased, the soldering bit can be always in close contact with a welding part, and the loss caused by the collision of the soldering bit can be reduced; 5, the image recognition unit of the invention abandons the traditional strip light source, selects the annular light source with better light supplement effect, adopts the concentric structural design of the camera lens and the annular light source, and can effectively reduce the phenomenon that the image cannot be recognized due to the light source.
Drawings
FIG. 1 is a schematic view of the robotic end effector for soldering iron welding;
FIG. 2 is a structural view of the main structure;
FIG. 3 is a structural view of the solder head assembly;
FIG. 4 is a structural view of the wire feed nozzle assembly;
FIG. 5 is a structural view of the wire feed unit;
fig. 6 is a structural view of the image recognition unit.
The figures in the drawings represent:
1-a main structural member; 2-a welding unit; 3-a wire feeding unit; 4-an image recognition unit; 11-a cylindrical rod member; 12-a mounting block; 21-switching the mounting plate; 22-arc chute; 23-a soldering bit assembly; 24-a wire feed nozzle assembly; 31-a tin wire coil; 32-a wire feeder; 33-a mounting frame; 41-ring light source; 42-a camera; 43-a light source mounting plate; 44-a camera mounting plate; 231-a soldering iron tip; 232-soldering bit mounting block; 233-guide rail slider group; 234-a slider mounting plate; 235-a guide rail mounting plate; 236-a set screw; 237-a spring; 241-a wire feeding mouth; 242-long rectangular block; 243-square rectangular block; 244-long rod; 245-cylindrical block.
Detailed Description
The above and further features and advantages of the present invention are described in more detail below with reference to the accompanying drawings.
FIG. 1 is a schematic view of the robotic end effector for soldering iron, as shown in FIG. 1; the robot tail end executing device for soldering iron welding comprises a main component 1, a welding unit 2, a wire feeding unit 3 and an image recognition unit 4; the welding unit 2, the wire feeding unit 3 and the image recognition unit 4 are all fixedly arranged at the tail end of the robot arm through the main component 1.
As shown in fig. 2, fig. 2 is a structural view of the main structural member; the main structural member 1 comprises a cylindrical rod piece 11 and two mounting blocks 12; the two ends of the cylindrical rod 11 are respectively provided with a flange end and a thin rod end, the cylindrical rod 11 is connected with the tail end of the robot arm through the flange end, and the two mounting blocks 12 are clamped and fixed on the thin rod end.
Specifically, the mounting blocks 12 are provided with semicircular arc plates, inner arc surfaces of the semicircular arc plates are attached to the arc surfaces of the ends of the thin rods, connecting threaded holes are correspondingly formed in the semicircular arc plates of the two mounting blocks 12, and connecting bolts are simultaneously in threaded connection with the two correspondingly-arranged connecting threaded holes to realize the fixed connection of the two mounting blocks 12 so as to be arranged on the ends of the thin rods in a clamping manner.
The circular flange end at the top of the main component 1 is provided with a mounting hole to be connected with the tail end of the robot arm, the bottom of the main structural member 1 is annularly provided with a first mounting surface, a second mounting surface, a third mounting surface and a fourth mounting surface, four mounting surfaces of the first mounting surface A, the second mounting surface B, the third mounting surface C and the fourth mounting surface D shown in FIG. 2, the first mounting surface, the second mounting surface, the third mounting surface and the fourth mounting surface are all provided with 4 mounting threaded holes for mounting, the welding unit 2 is fixedly arranged on the first mounting surface A, the wire feeding unit 3 is fixedly arranged on the second mounting surface B, the camera 42 in the image recognition unit 4 is fixedly arranged on the third installation surface C, and the annular light source 41 in the image recognition unit 4 is fixedly arranged on the fourth installation surface D.
The welding unit 2 comprises a switching mounting plate 21, an arc-shaped chute 22, a soldering bit assembly 23 and a wire feeding nozzle assembly 24; 4 countersunk holes are formed above the switching mounting plate 21 and are used for being connected with the first mounting surface A of the main component 1, and a waist-shaped hole is formed below the switching mounting plate 21 and is connected with the arc-shaped sliding groove 22; the arc-shaped chute 22 can move up and down in the waist-shaped hole of the adapter mounting plate 21, the soldering bit assembly 23 and the wire feeding nozzle assembly 24 are respectively arranged at two ends of the arc-shaped chute 22, and the soldering bit assembly 23 and the wire feeding nozzle assembly 24 can move on the arc-shaped chute 22 to adjust the distance and the angle.
FIG. 3 is a structural view of the soldering bit assembly, as shown in FIG. 3; soldering bit subassembly 23 includes soldering bit 231, soldering bit installation piece 232, guide rail slider group 233, slider mounting plate 234, guide rail mounting plate 235, soldering bit 231 passes through soldering bit installation piece 232 with guide rail slider group 233 connects, guide rail and slider sliding connection in guide rail slider group 233, the slider passes through slider mounting plate 234 with soldering bit installation piece 232 connects, the guide rail passes through guide rail mounting plate 235 with arc spout 22 is connected, and the both ends of spring 237 are fixed respectively through set screw 236 slider mounting plate 234 with on the guide rail mounting plate 235.
Specifically, the soldering bit mounting block 232 is two clamping blocks fixed to the soldering bit 231 in a clamping manner, and the two clamping blocks clamp the soldering bit 231 through threaded connection, so that the soldering bit 231 can move axially to adjust the distance as required.
Soldering bit installation piece 232 with the connected mode between the slider mounting panel 234 is the shaft hole cooperation, promptly the optical axis that sets up on the soldering bit installation piece 232 inserts in the unthreaded hole that sets up on the slider mounting panel 234, the slider mounting panel 234 radially has a through-thread hole on the unthreaded hole pore wall, through-thread hole female connection has set screw, through set screw can be fixed soldering bit installation piece 232 with the relative angle of slider mounting panel 234, soldering bit 231 can for slider mounting panel 234 arbitrary angular rotation, promptly soldering bit 231 both can rotate relative fixed position and also can axial displacement, can satisfy the regulation under the multiple operating mode.
The guide rail mounting plate 235 one side is provided with the guide rail, and the another side is provided with the connecting axle, the terminal surface of connecting axle is provided with first threaded connection hole, first connecting screw pass through first threaded connection hole with arc spout 22 fixed connection.
The slider mounting plate 234 with the guide rail mounting plate 235 both sides all have one set screw 236, the homonymy use between set screw 236 spring 237 articulates, and spring and linear guide rail sliding block group design can increase the elasticity and the stroke of soldering bit, makes the soldering bit can be in close contact with the welding position all the time, can also increase the toughness of soldering bit, prevents to collide with.
FIG. 4 is a structural view of the wire feed nozzle assembly, as shown in FIG. 4; the wire feeding nozzle assembly 24 comprises a wire feeding nozzle 241, a long rectangular block 242, a square rectangular block 243, a long rod 244 and a cylindrical block 245, the wire feeding nozzle 241 is fixedly arranged on the long rectangular block 242, one end of the long rectangular block 242 is provided with a first connecting through hole, an adjusting screw fixes the long rectangular block 242 on the side surface of the square rectangular block 243 through the first connecting through hole, and the position of the long rectangular block 242 can rotate relative to the square rectangular block 243 as required.
The side surface (long rectangular block mounting surface) of the square rectangular block 243 is provided with 3 equidistant adjusting threaded holes, and the long rectangular block 242 can select the adjusting threaded holes to be connected according to the working condition requirement.
The square block 243 has an eccentric through hole on the front surface, the long rod 244 is arranged to penetrate through the eccentric through hole, the other side surface of the square block 243 has a first locking screw hole, a first locking screw is arranged in the first locking screw hole, and the relative position of the square block 24 and the long rod 244 is fixed by the first locking screw, so the square block 243 can move axially along the long rod 244 and also can rotate around the through hole.
The cylindrical surface of the cylindrical block 245 comprises a second connecting through hole and a second locking threaded hole, the axes of the second connecting through hole and the second locking threaded hole are vertically intersected, the long rod 244 is arranged in the second connecting through hole, a second locking screw is arranged in the second locking threaded hole, the relative position of the cylindrical block 245 and the long rod 244 is fixed through the second locking screw, and the position of the long rod 244 can axially move and rotate relative to the cylindrical block 245 as required; one end face of the cylindrical block 245 is provided with a second threaded connecting hole, and a second connecting screw is fixedly connected with the arc-shaped sliding groove 22 through the second threaded connecting hole.
FIG. 5 is a view of the wire feed unit, as shown in FIG. 5; the wire feeding unit 3 comprises a tin wire coil 31, a wire feeder 32 and a mounting rack 33; the mounting frame 33 comprises a first mounting plate, a second mounting plate and a third mounting plate which are fixedly spliced with each other, the first mounting plate is connected with the second mounting surface B of the main component 1, the tin wire coil 31 is fixedly arranged on the second mounting plate, the wire feeder 32 is fixedly arranged on the third mounting plate, a wire inlet of the wire feeder 32 is arranged close to the tin wire coil 31, and a tin wire is fed into the wire feeding nozzle 241 from a wire outlet under the drive of a wire feeding motor in the wire feeder 32; the tin wire coil 31 may be driven by the wire feeder 32 to idle around its coil axis, or may be moved axially along the coil axis.
As shown in fig. 6, fig. 6 is a structural view of the image recognition unit; the image recognition unit 4 includes the ring-shaped light source 41, the camera 42, a light source mounting plate 43, a camera mounting plate 44; the light source mounting panel 43 includes annular plate and vertical board, the annular plate with vertical board fixed connection, annular light source 41 is fixed to be set up on the annular plate, vertical board with the main component 1 fourth installation face D is connected, the fixed being provided with of one side of camera mounting panel 44 camera 42, the another side with the main component 1 third installation face C is connected, camera 42 is located directly over annular light source 41, just camera 42's camera lens with annular light source 41 sets up with one heart.
The foregoing is illustrative of the preferred embodiments of the present invention, which is set forth only, and not to be taken as limiting the invention. It will be understood by those skilled in the art that various changes, modifications and equivalents may be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A robot tail end executing device for soldering iron welding is characterized by comprising a main component, a welding unit, a wire feeding unit and an image recognition unit; the welding unit, the wire feeding unit and the image recognition unit are all fixedly arranged at the tail end of the robot arm through the main component;
the welding unit is fixedly arranged on the first mounting surface, the wire feeding unit is fixedly arranged on the second mounting surface, a camera in the image recognition unit is fixedly arranged on the third mounting surface, and an annular light source in the image recognition unit is fixedly arranged on the fourth mounting surface.
2. A robotic end effector for soldering iron as defined in claim 1, wherein the primary structure includes a cylindrical rod member and two mounting blocks; one end of the cylindrical rod piece is the flange end, the other end of the cylindrical rod piece is a thin rod end, and the two mounting blocks are clamped and fixed on the thin rod end; the mounting blocks are provided with semicircular arc plates, the inner arc surfaces of the semicircular arc plates are attached to the arc surfaces of the ends of the thin rods, connecting threaded holes are correspondingly formed in the semicircular arc plates of the two mounting blocks, and connecting bolts are simultaneously in threaded connection with the two correspondingly-arranged connecting threaded holes, so that the two mounting blocks are fixedly connected and are arranged on the ends of the thin rods in a clamping manner.
3. A robotic end effector for soldering iron as in claim 2 wherein the soldering unit includes an adapter mounting plate, an arcuate chute, a soldering iron head assembly and a wire feed tip assembly; a countersunk hole is formed above the switching mounting plate to be connected with the first mounting surface of the main component, and a waist-shaped hole is formed below the switching mounting plate to be connected with the arc-shaped sliding groove; the arc-shaped sliding groove can move in the waist-shaped hole of the switching mounting plate, the two ends of the arc-shaped sliding groove are respectively provided with the soldering bit assembly and the wire feeding nozzle assembly, and the soldering bit assembly and the wire feeding nozzle assembly can move on the arc-shaped sliding groove.
4. A robotic end effector for solder iron welding as in claim 3 wherein the solder tip assembly comprises a solder tip, a solder tip mounting block, a rail slider set, a slider mounting plate, and a rail mounting plate, the solder tip being attached to the rail slider set via the solder tip mounting block, the rail and slider of the rail slider set being slidably attached, the slider being attached to the solder tip mounting block via the slider mounting plate, the rail being attached to the arcuate slot via the rail mounting plate, and the ends of the spring being secured to the slider mounting plate and the rail mounting plate, respectively, via set screws.
5. A robotic end effector for soldering iron as defined in claim 4, wherein said tip mounting block is configured to clamp two clamping blocks secured to said tip, said clamping blocks clamping said tip via a threaded connection.
6. A robotic end effector for soldering iron according to claim 4 wherein said tip mounting block includes an optical axis that is received in an aperture defined in said slider mounting plate, said slider mounting plate including a radially extending threaded aperture in a wall of said aperture, said threaded aperture having a set screw threadedly engaged therein, whereby relative angles of said tip mounting block and said slider mounting plate are fixed.
7. A robot end effector for soldering iron according to claim 4, wherein the rail mounting plate is provided with the rail on one side and a connecting shaft on the other side, and the connecting shaft is provided with a first threaded connecting hole on an end face thereof, and a first connecting screw is fixedly connected to the arc-shaped sliding groove through the first threaded connecting hole.
8. A robot end effector for soldering iron according to claim 3, wherein the wire feeding nozzle assembly comprises a wire feeding nozzle, a rectangular block, a square block, a long rod, and a cylindrical block, the wire feeding nozzle is fixedly disposed on the rectangular block, one end of the rectangular block has a first connecting through hole, and an adjusting screw fixes the rectangular block on the side of the rectangular block through the first connecting through hole; the front surface of the square rectangular block is provided with an eccentric through hole, the long rod penetrates through the eccentric through hole, the other side surface of the square rectangular block is provided with a first locking threaded hole, a first locking screw is arranged in the first locking threaded hole, and the relative position of the square rectangular block and the long rod is fixed through the first locking screw; the cylindrical surface of the cylindrical block comprises a second connecting through hole and a second locking threaded hole, the axes of the second connecting through hole and the second locking threaded hole are vertically intersected, the long rod is arranged in the second connecting through hole, a second locking screw is arranged in the second locking threaded hole in an internal thread mode, and the relative position of the cylindrical block and the long rod is fixed through the second locking screw; and one end face of the cylindrical block is provided with a second threaded connecting hole, and a second connecting screw is fixedly connected with the arc-shaped sliding groove through the second threaded connecting hole.
9. A robotic end effector for soldering iron as defined in claim 1 wherein the wire feed unit includes a coil of tin wire, a wire feeder, and a mounting bracket; the mounting bracket is including first mounting panel, second mounting panel and the third mounting panel that splices each other fixedly, first mounting panel with the main component the second installation face is connected, tin silk coil is fixed to be set up on the second mounting panel, it is fixed to set up to send silk on the third mounting panel, what send the silk machine advances the silk mouth and is close to tin silk coil sets up, the play silk mouth that sends the silk machine corresponds send a silk mouth setting.
10. A robotic end effector for soldering iron as defined in claim 1 wherein said image recognition unit includes said annular light source, said camera, a light source mounting plate, a camera mounting plate; the light source mounting panel includes annular plate and vertical board, the annular plate with vertical board fixed connection, annular light source is fixed to be set up on the annular plate, vertical board with the main junction component the fourth installation face is connected, the one side of camera mounting panel is fixed to be provided with camera, the another side with the main junction component the third installation face is connected, the camera is located directly over annular light source, just the camera lens with annular light source sets up with one heart.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210381477.3A CN114951884A (en) | 2022-04-11 | 2022-04-11 | Robot tail end execution device for soldering iron welding |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210381477.3A CN114951884A (en) | 2022-04-11 | 2022-04-11 | Robot tail end execution device for soldering iron welding |
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| CN114951884A true CN114951884A (en) | 2022-08-30 |
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| CN202210381477.3A Pending CN114951884A (en) | 2022-04-11 | 2022-04-11 | Robot tail end execution device for soldering iron welding |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115533256A (en) * | 2022-12-01 | 2022-12-30 | 快克智能装备股份有限公司 | Wire feeding welding device |
| US20230415254A1 (en) * | 2022-01-24 | 2023-12-28 | Quick Intelligent Equipment Co., Ltd. | Welding devices and welding, installation and debugging methods thereof |
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| US11969829B2 (en) * | 2022-01-24 | 2024-04-30 | Quick Intelligent Equipment Co., Ltd. | Welding devices and welding, installation and debugging methods thereof |
| CN115533256A (en) * | 2022-12-01 | 2022-12-30 | 快克智能装备股份有限公司 | Wire feeding welding device |
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Application publication date: 20220830 |