CN207447543U - A kind of soldering robot and soldering and welding equipment - Google Patents
A kind of soldering robot and soldering and welding equipment Download PDFInfo
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- CN207447543U CN207447543U CN201721443669.3U CN201721443669U CN207447543U CN 207447543 U CN207447543 U CN 207447543U CN 201721443669 U CN201721443669 U CN 201721443669U CN 207447543 U CN207447543 U CN 207447543U
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Abstract
The utility model provides a kind of soldering robot and soldering and welding equipment, belongs to welding technology field.Soldering robot includes matrix, the first gliding mass, first driving means, the second gliding mass, the second driving device, welder and the 3rd driving device.First gliding mass is slidably connected with matrix.First driving means are for the first gliding mass of driving with respect to matrix transverse shifting.For fixing workpiece, the second gliding mass is slidably connected second gliding mass with the first gliding mass.Second driving device vertically moves for the second gliding mass of driving with respect to the first gliding mass.Welder includes wire feeder, soldering iron and clamping device, and for providing tin silk, clamping device is slidably connected wire feeder with clamping soldering iron and Xi Si, clamping device with matrix.3rd driving device is used to that clamping device to be driven to slide vertically with respect to matrix.This soldering robot, which can realize, welds the designated position of workpiece, so as to ensure welding quality.
Description
Technical field
The utility model is related to welding technology field, in particular to a kind of soldering robot and soldering and welding equipment.
Background technology
The soldering and welding of PCB circuit board is a kind of labor-intensive process procedure, and repeatability is very strong.In the prior art one
As welded by the way of manual welding, manual welding labor intensity is big, welding quality and proficiency of workers, fatigue
Degree, sense of responsibility etc. are associated, welding quality unstable, and easily cause scolding tin waste.
Utility model content
The purpose of this utility model is to provide a kind of soldering robots, and to improve, human weld's mass is unstable to ask
Topic.
The purpose of this utility model is to provide a kind of soldering and welding equipment, and to improve, human weld's mass is unstable to ask
Topic.
The utility model is realized in this way：
Based on above-mentioned first purpose, the utility model provides a kind of soldering robot, including：
Matrix；
First gliding mass, is slidably connected with matrix；
First driving means are used to drive the first gliding mass with respect to matrix transverse shifting；
Second gliding mass is used to fix workpiece, and the second gliding mass is slidably connected with the first gliding mass；
Second driving device is used to that the second gliding mass to be driven to vertically move with respect to the first gliding mass；
Welder, including wire feeder, soldering iron and clamping device, wire feeder is used to provide tin silk, clamping device
It is slidably connected with clamping soldering iron and Xi Si, clamping device with matrix；
3rd driving device is used to that clamping device to be driven to slide vertically with respect to matrix.
Further, soldering robot further includes vision inspection apparatus；
Vision inspection apparatus includes photographic device, image pick-up card and controller, and photographic device is electrically connected with image pick-up card
It connects, image pick-up card is electrically connected with the controller, and photographic device is used to gather the image information of workpiece；
First driving means include the first servomotor, and the second driving device includes the second servomotor, the 3rd driving dress
It puts including the 3rd servomotor, the first servomotor, the second servomotor and the 3rd servomotor are electrically connected with the controller.
Further, vision inspection apparatus further includes light source, and light source is used to irradiate workpiece.
Further, matrix is equipped with vertical guide, and clamping device is connected with vertical guide by crossbeam, crossbeam with vertically
Guide rail is slidably connected, and clamping device is arranged on crossbeam, and the 3rd driving device slides vertically for crossbeam with respect to vertical guide.
Further, soldering robot further includes four-drive device, and clamping device is rotatablely connected with crossbeam, the 4th driving
Device is used to that clamping device to be driven to rotate around vertical axis.
Further, clamping device includes pedestal, first sleeve and the second casing；
Pedestal is rotatablely connected with crossbeam；
First sleeve is fixed on pedestal, and first sleeve is used to fix soldering iron；
Second casing is fixed on pedestal, and the second casing is used to wear tin silk, the axis of the second casing and the axis of first sleeve
Line intersects.
Further, the axis of first sleeve and the intersection point of the axis of the second casing are located at the axis that pedestal is rotated relative to crossbeam
On line.
Further, vertical guide is two, and two vertical guides are respectively the first vertical guide and the second vertical guide,
The both ends of crossbeam are slidably connected respectively with the first vertical guide and the second vertical guide.
Based on above-mentioned second purpose, the utility model provides a kind of soldering and welding equipment, including manipulator and above-mentioned
Soldering robot, manipulator are used for grabbing workpiece.
Further, manipulator includes performing arm and the 5th driving device, performs arm and is equipped with slidable first vee-block
With the second vee-block；
5th driving device is relatively close or separate for driving the first vee-block and the second vee-block.
The beneficial effects of the utility model are：
The utility model provides a kind of soldering robot, and during work, workpiece is fixed on the second gliding mass, in the first driving dress
It puts under the action of the second driving device, is adjusted and the position of workpiece is adjusted, so that workpiece is located at below welder
Appropriate location；Under the action of the 3rd driving device, clamping device will drive soldering iron and Xi Si to move vertically downwards, so as to right
Workpiece is welded so that solder joint is generated in the designated position of workpiece, so as to ensure welding quality.
The utility model provides a kind of soldering and welding equipment, including manipulator and above-mentioned soldering robot, has above-mentioned tin
Weld all advantages of robot.Manipulator can capture workpiece, so as to quickly carry out workpiece to be transferred to other stations
On.
Description of the drawings
It, below will be to required use in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Attached drawing be briefly described, it should be understood that the following drawings illustrates only some embodiments of the utility model, therefore should not be by
Regard the restriction to scope as, for those of ordinary skill in the art, without creative efforts, may be used also
To obtain other relevant attached drawings according to these attached drawings.
Fig. 1 is the structure diagram for the soldering robot that the utility model embodiment 1 provides；
Fig. 2 is the structure diagram of clamping device shown in FIG. 1；
Fig. 3 is the structure diagram for the soldering and welding equipment that the utility model embodiment 2 provides；
Fig. 4 is the structure diagram of manipulator shown in Fig. 3；
Fig. 5 is the structure diagram of execution arm shown in Fig. 3.
Icon：100- solderings robot；10- matrixes；11- cross slide ways；The first vertical guides of 12-；13- second is vertically led
Rail；14- crossbeams；The first gliding masses of 20-；The second gliding masses of 30-；40- welders；41- wire feeders；411- tin silks；42- soldering irons；
43- clamping devices；431- pedestals；432- first sleeves；The second casings of 433-；44- temperature control devices；50- four-drive devices；
60- vision inspection apparatus；61- photographic devices；62- controllers；63- light sources；200- soldering and welding equipment；210- manipulators；
211- base arm；The first pivoted arms of 212-；The second pivoted arms of 213-；The 3rd pivoted arms of 214-；The 4th pivoted arms of 215-；216- performs arm；217-
First vee-block；The second vee-blocks of 218-；219- pressure sensors；220- cavernous bodies；221- connecting plates.
Specific embodiment
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is the utility model part of the embodiment, instead of all the embodiments.Usually here described in attached drawing and
The component of the utility model embodiment shown can configure to arrange and design with a variety of.
Therefore, requirement is not intended to limit to the detailed description of the embodiment of the utility model provided in the accompanying drawings below
The scope of the utility model of protection, but it is merely representative of the selected embodiment of the utility model.Based in the utility model
Embodiment, those of ordinary skill in the art's all other embodiments obtained without creative efforts, all
Belong to the scope of the utility model protection.
It should be noted that：Similar label and letter represents similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
, it is necessary to which explanation, indicating position or position relationship are based on attached drawing in the description of the utility model embodiment
Shown orientation or position relationship or the utility model product using when the orientation usually put or position relationship or
Orientation or position relationship that those skilled in the art usually understand or the utility model product using when usually put
Orientation or position relationship are for only for ease of description the utility model and simplify description rather than instruction or imply signified dress
It puts or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that the utility model
Limitation.In addition, term " first ", " second ", " the 3rd " etc. are only used for distinguishing description, and it is not intended that instruction or hint phase
To importance.
In the description of the utility model embodiment, it is also necessary to explanation, unless otherwise clearly defined and limited, art
Language " setting ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integrally connect
It connects；Can be directly connected to, can also be indirectly connected with by intermediary.For the ordinary skill in the art, may be used
Concrete meaning of the above-mentioned term in the utility model is understood with concrete condition.
Embodiment 1
The present embodiment provides a kind of soldering robot 100, for making to form solder joint on workpiece.In the present embodiment, workpiece is
PCB circuit board.
As shown in Figure 1, soldering robot 100 include matrix 10, the first gliding mass 20, the second gliding mass 30, first driving means,
Second driving device, welder 40, the 3rd driving device, four-drive device 50 and vision inspection apparatus 60.
Wherein, matrix 10 is used to carry all parts.The upper surface of matrix 10 is equipped with cross slide way 11.First gliding mass 20 is
Strip structure, 20 stringer of the first gliding mass arrangement, the first sliding groove are slidably disposed on cross slide way 11, and the first sliding groove can
Transversely guide rail 11 slides laterally.
Second gliding mass 30 is platy structure, and the second gliding mass 30 is equipped with multiple location holes, the bulge-structure in PCB circuit board
PCB circuit board will be by can be on the second gliding mass 30 after coordinating with location hole.Second gliding mass 30 is connected with the first gliding mass 20, and second
Gliding mass 30 is the guide rail that the first gliding mass 20 slides.Second topic can be vertically moved along the second gliding mass 30.
First driving means are (not shown), and for driving the first gliding mass 20, transversely guide rail 11 slides laterally.The present embodiment
In, first driving means include the first servomotor and the first screw, and the first screw is rotatably arranged at cross slide way 11, the
One gliding mass 20 is screwed onto the outside of the first screw, and the output shaft of the first servomotor is connected with the first screw.First servomotor
During work, the first screw will rotate, so as to fulfill the transverse shifting of the first gliding mass 20.
Second driving device is (not shown) for 30 20 longitudinal sliding motion of opposite first gliding mass of the second gliding mass of driving.This implementation
In example, the second driving device includes the second servomotor and the second screw, and the second screw is rotatably arranged at the first gliding mass 20,
Second gliding mass 30 is screwed onto the outside of the second screw, and the output shaft of the second servomotor is connected with the second screw.Second servo electricity
When machine works, the second screw will rotate, so as to fulfill the longitudinal movement of the second gliding mass 30.
The upper surface of matrix 10 is equipped with vertical guide, and vertical guide is two, and two vertical guides are respectively first perpendicular
12 and second vertical guide 13 of direction guiding rail.First vertical guide 12 is equipped with the first sliding groove towards the one side of the second vertical guide 13,
The first sliding groove arranges that the cross section of the first sliding groove is T-shaped along the length direction of the first vertical guide 12；Second vertical guide, 13 face
The second sliding slot is equipped with to the one side of the first vertical guide 12, the length direction along the second vertical guide 13 of the second sliding slot is arranged,
The cross section of second sliding slot is T-shaped.
Crossbeam 14 is equipped between first vertical guide 12 and the first vertical guide 12, the both ends of crossbeam 14 are respectively equipped with first
T-shaped portion and the second T-shaped portion, the first T-shaped portion are slidably arranged in the first sliding groove, and the second T-shaped portion is slidably arranged on second and slides
In slot, so as to fulfill being slidably connected for crossbeam 14 and the first vertical guide 12 and the second vertical guide 13.
3rd driving device is (not shown) to be used to drive crossbeam 14 with respect to the first vertical guide 12 and the second vertical guide
13 slide vertically.In the present embodiment, the 3rd driving device includes the 3rd screw and the 3rd servomotor, and the 3rd screw is rotatable
In the first vertical guide 12, the first T-shaped portion on crossbeam 14 is bolted on the outside of the 3rd screw, the output of the 3rd servomotor
Axis is connected with the 3rd screw.When 3rd servomotor works, the 3rd screw will rotate, so as to fulfill the vertical shifting of crossbeam 14
It is dynamic.
In the present embodiment, welder 40 includes wire feeder 41, soldering iron 42 and clamping device 43.
Wherein, wire feeder 41 is existing apparatus, and wire feeder 41 is equipped with tin silk 411, and wire feeder 41 is fixed on horizontal stroke
On beam 14.The effect of wire feeder 41 is to provide tin silk 411 during welding.After tin silk 411 is contacted with the soldering iron 42 after heating, tin
Silk 411 will be melted, so as to form solder joint in PCB circuit board.
The effect of clamping device 43 is to clamp the tin silk 411 that soldering iron 42 and wire feeder 41 are provided.In the present embodiment, such as
Shown in Fig. 2, clamping device 43 include pedestal 431,432 and second casing 433 of first sleeve, pedestal 431 be platy structure, first
432 and second casing 433 of casing is each attached on pedestal 431.First sleeve 432 is obliquely installed with the second casing 433, and first
The axis of casing 432 intersects with the axis of the second casing 433.
As shown in Figure 1, four-drive device 50 includes the 4th servomotor, the 4th servomotor is fixed on crossbeam 14,
The output shaft of 4th servomotor is connected with pedestal 431, and when servomotor works, servomotor will be with moving base 431 around vertical pivot
Line rotates, the intersection point of the axis of the axis of first sleeve 432 and the second casing 433 be located at the rotation of pedestal 431 around vertical axis
On.Soldering iron 42 is plugged in first sleeve 432 and forms closely cooperation, so as to which soldering iron 42 be fixed, the tip position of soldering iron 42
In pedestal 431 rotate around vertical axis on.Tin silk 411 on wire feeder 41 is threaded through in the second casing 433.When wire feed fills
When putting 41 work, tin silk 411 will move in the second casing 433, since first sleeve 432 intersects with the second casing 433, tin silk
411 end most nib contacts with soldering iron 42 at last, so that tin silk 411 melts.The end of tin silk 411 and 42 tip of soldering iron
The position of contact is the position of the intersection point of 433 axis of axis and the second casing of first sleeve 432.In addition, first vertically leads
Rail 12 is equipped with temperature control device 44, and temperature control device 44 is electrically connected with soldering iron 42, and temperature control device 44 is electrically connected with soldering iron 42, temperature control dress
44 are put for controlling the temperature of soldering iron 42.
Vision inspection apparatus 60 includes photographic device 61, image pick-up card (not shown), controller 62 and light source 63.This
In embodiment, photographic device 61 is high-precision camera, and light source 63 is LED light source 63.Photographic device 61 and light source 63 are respectively mounted
On crossbeam 14, the two can follow crossbeam 14 vertically movable together.Controller 62 is fixed on matrix 10, photographic device 61 and figure
As capture card electrical connection, Image Acquisition is stuck in controller 62 and is electrically connected, and light source 63 is electrically connected with controller 62, the first servo electricity
Machine, the second servomotor, the 3rd servomotor and the 4th servomotor are electrically connected with controller 62.
During work, PCB circuit board is fixed on the second gliding mass 30, and the light that light source 63 is sent is radiated at PCB circuit board, control
The PCB circuit board epigraph information that device 62 is gathered by image pick-up card analyzing and processing camera, determines to treat the position of solder joint.
Determine in PCB circuit board after bond pad locations, controller 62 to the first servomotor, the second servomotor, the 3rd servo electricity
Machine sends instruction, the first servomotor and the work of the second servomotor, and PCB circuit board is made to be located at the appropriate of 40 lower section of welder
Position, the 3rd servomotor work, makes to form solder joint in PCB circuit board.Certainly, the 3rd servomotor makes 42 vertical line of soldering iron
In lower motion process, if the device in PCB circuit board can generate interference to soldering iron 42, controller 62 can control the 4th servo electricity
Machine works, and entire welder 40 is made to turn an angle so that 42 avoiding obstacles of soldering iron, ensure welding it is smooth into
Row.This 100 high degree of automation of soldering robot, can without manually participating in, it can be achieved that PCB circuit board precision welding
Ensure welding quality well.
In the present embodiment, vision inspection apparatus 60 is equipped in soldering robot 100, vision inspection apparatus 60 can be to identification
Band solder joint in PCB circuit board so as to which each servomotor voluntarily be controlled to work, to realize automatic welding, improves welding quality.
In other specific embodiments, vision inspection apparatus 60 can be also not provided in soldering robot 100, the side that can manually control
Formula realizes the rotation of each servomotor, so as to control the displacement of the first gliding mass 20, the second gliding mass 30 and welder 40
Amount.
In the present embodiment, vertical guide is two, i.e. the first vertical guide 12 and the second vertical guide 13, first vertically leads
Slidable crossbeam 14 is equipped between 12 and second vertical guide 13 of rail, welder 40 is fixed on crossbeam 14, this structure
It can ensure stability of the welder 40 during vertically movable, ensure the kinematic accuracy of welder 40.
Embodiment 2
As shown in figure 3, the present embodiment provides a kind of soldering and welding equipment 200, including in manipulator 210 and above-described embodiment
Soldering robot 100.
As shown in figure 4, wherein, manipulator 210 includes base arm 211, the first pivoted arm 212, the second pivoted arm 213, the 3rd pivoted arm
214th, the 4th pivoted arm 215, execution 216 and the 5th driving device (not shown) of arm.First pivoted arm 212 is rotated with base arm 211 to be connected
It connects, the first pivoted arm 212 can be rotated relative to base arm 211 around vertical axis；Second pivoted arm 213 is rotatablely connected with the first pivoted arm 212, the
Two pivoted arms 213 can be rotated relative to the first pivoted arm 212 around first level axis；3rd pivoted arm 214 and the second pivoted arm 213, which rotate, to be connected
It connects, the 3rd pivoted arm 214 can be rotated relative to the second pivoted arm 213 around the second horizontal axis, the second horizontal axis and first level axis
Line is parallel；4th pivoted arm 215 is rotatablely connected with the 3rd pivoted arm 214, and the 4th pivoted arm 215 can be with respect to the 3rd pivoted arm 214 around the 3rd
Horizontal axis rotates, and the 3rd horizontal axis is perpendicular to the second horizontal axis；It performs arm 216 to be rotatablely connected with the 4th pivoted arm 215, hold
Row arm 216 can be rotated relative to the 4th pivoted arm 215 around the 4th horizontal axis, and the 4th horizontal axis is parallel to the second horizontal axis.
Wherein, as shown in figure 5, performing arm 216 is equipped with the first vee-block 217 and the second vee-block 218, the first vee-block 217
It is slidably connected with the second vee-block 218 with performing arm 216, the first vee-block 217 is oppositely arranged with the slip of the second vee-block 218.The
Five driving devices are for driving the first vee-block 217 and the 218 opposite arm 216 that performs of the second vee-block to slide, so as to the first vee-block
217 is relatively close or separate with the second vee-block 218.First vee-block 217 is equipped with the first V-type towards the one side of the second vee-block 218
Slot, the second vee-block 218 are equipped with the second V-shaped groove towards the one side of the first vee-block 217.First V-shaped groove in the 2nd V row slots with being all provided with
There is the pressure sensor 219 of V-arrangement, the inside of pressure sensor 219 is equipped with the cavernous body 220 of V-arrangement
In the present embodiment, the 5th driving device is (not shown) to include the 5th servomotor and the 5th screw, the 5th screw
It is equipped with left hand thread and right-handed thread.5th screw is rotatably arranged at cursor, the output shaft of the 5th servomotor with
5th screw connects, and the first vee-block 217 is screwed onto in left hand thread, and the second vee-block 218 is screwed onto on right-handed thread.5th watches
When taking motor work, the first vee-block 217 and the second vee-block 218 will move in the opposite direction simultaneously.
As shown in figure 3, the base arm 211 of manipulator 210 is connected with the matrix 10 of soldering robot 100 by connecting plate 221.
After the completion of soldering robot 100 welds PCB circuit board, manipulator 210 acts, and execution arm 216 is made to move to designated position,
Under the action of the 5th servomotor so that the first vee-block 217 and the second vee-block 218 move toward one another, so as to by PCB circuits
Plate, most PCB circuit board is quickly transferred on other stations at last.First vee-block 217 and the second vee-block 218 are to PCB lines
When road plate is clamped, sensor can carry out the pressure that PCB circuit board generates the first vee-block 217 and the second vee-block 218
Detection, when pressure is excessive or too small, the 5th servomotor is all by work, so as to ensure the first vee-block 217 and the second V-arrangement
The moderate pressure that block 218 generates PCB circuit board.
It these are only the preferred embodiment of the utility model, be not intended to limit the utility model, for this field
Technical staff for, various modifications and changes may be made to the present invention.Within the spirit and principle of the utility model,
Any modifications, equivalent replacements and improvements are made should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of soldering robot, which is characterized in that including：
Matrix；
First gliding mass, is slidably connected with described matrix；
First driving means are used to drive the first gliding mass with respect to described matrix transverse shifting；
Second gliding mass is used to fix workpiece, and second gliding mass is slidably connected with first gliding mass；
Second driving device is used to drive the relatively described first gliding mass longitudinal movement of second gliding mass；
Welder, including wire feeder, soldering iron and clamping device, the wire feeder is used to provide tin silk, the clamping
Device clamps the soldering iron and the tin silk, the clamping device are slidably connected with described matrix；
3rd driving device is used to that the clamping device to be driven to slide vertically with respect to described matrix.
2. soldering robot according to claim 1, which is characterized in that the soldering robot further includes vision-based detection dress
It puts；
The vision inspection apparatus includes photographic device, image pick-up card and controller, and the photographic device is adopted with described image
Truck is electrically connected, and described image capture card is electrically connected with the controller, and the photographic device is used to gather the image letter of the workpiece
Breath；
The first driving means include the first servomotor, and second driving device includes the second servomotor, and described the
Three driving devices include the 3rd servomotor, first servomotor, second servomotor and the 3rd servo electricity
Machine is electrically connected with the controller.
3. soldering robot according to claim 2, which is characterized in that the vision inspection apparatus further includes light source, institute
Light source is stated for irradiating the workpiece.
4. soldering robot according to claim 1, which is characterized in that described matrix is equipped with vertical guide, the folder
It holds device to be connected by crossbeam with the vertical guide, the crossbeam is slidably connected with the vertical guide, the clamping device
On the crossbeam, the 3rd driving device slides vertically for the relatively described vertical guide of the crossbeam.
5. soldering robot according to claim 4, which is characterized in that the soldering robot further includes the 4th driving dress
It puts, the clamping device is rotatablely connected with the crossbeam, and the four-drive device is used to drive the clamping device around vertical pivot
Line rotates.
6. soldering robot according to claim 5, which is characterized in that the clamping device includes pedestal, first sleeve
With the second casing；
The pedestal is rotatablely connected with the crossbeam；
The first sleeve is fixed on the pedestal, and the first sleeve is used to fix the soldering iron；
Second casing is fixed on the pedestal, and second casing is used to wear the tin silk, the axis of second casing
Line intersects with the axis of the first sleeve.
7. soldering robot according to claim 6, which is characterized in that the axis of the first sleeve and described second set
The intersection point of the axis of pipe is located at the pedestal on the axis that the crossbeam rotates.
8. according to claim 4-7 any one of them solderings robot, which is characterized in that the vertical guide be two, two
A vertical guide is respectively the first vertical guide and the second vertical guide, and the both ends of the crossbeam are perpendicular with described first respectively
Direction guiding rail and the second vertical guide are slidably connected.
9. a kind of soldering and welding equipment, which is characterized in that including manipulator and claim 1-8 any one of them soldering machines
People, the manipulator are used to capture the workpiece.
10. soldering and welding equipment according to claim 9, which is characterized in that the manipulator includes performing arm and the 5th
Driving device, the execution arm are equipped with slidable first vee-block and the second vee-block；
5th driving device is used to drive first vee-block and the second vee-block relatively close or separate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721443669.3U CN207447543U (en) | 2017-10-31 | 2017-10-31 | A kind of soldering robot and soldering and welding equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721443669.3U CN207447543U (en) | 2017-10-31 | 2017-10-31 | A kind of soldering robot and soldering and welding equipment |
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| CN207447543U true CN207447543U (en) | 2018-06-05 |
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| CN108838478A (en) * | 2018-08-09 | 2018-11-20 | 深圳市德富强机器人有限公司 | A kind of automatic tin welding machine |
| CN109079272A (en) * | 2018-08-24 | 2018-12-25 | 芜湖源码自动化设备有限公司 | Automatic tin soldering device |
| CN109365974A (en) * | 2018-12-29 | 2019-02-22 | 佛山市顺德区蚬华多媒体制品有限公司 | Welder |
| CN109551140A (en) * | 2018-12-20 | 2019-04-02 | 深圳供电局有限公司 | A kind of packaged type welding robot for superconduction welding |
| CN110293274A (en) * | 2019-08-15 | 2019-10-01 | 雷海鹏 | A kind of welder facilitating feeding |
| CN110860759A (en) * | 2019-12-26 | 2020-03-06 | 广州市谊华电子设备有限公司 | Electric soldering iron robot capable of rapidly soldering tin |
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| CN108838478A (en) * | 2018-08-09 | 2018-11-20 | 深圳市德富强机器人有限公司 | A kind of automatic tin welding machine |
| CN108838478B (en) * | 2018-08-09 | 2024-01-30 | 深圳市德富强机器人有限公司 | Automatic soldering machine |
| CN109079272A (en) * | 2018-08-24 | 2018-12-25 | 芜湖源码自动化设备有限公司 | Automatic tin soldering device |
| CN109551140A (en) * | 2018-12-20 | 2019-04-02 | 深圳供电局有限公司 | A kind of packaged type welding robot for superconduction welding |
| CN109551140B (en) * | 2018-12-20 | 2023-10-31 | 深圳供电局有限公司 | Movable welding robot for superconducting welding |
| CN109365974A (en) * | 2018-12-29 | 2019-02-22 | 佛山市顺德区蚬华多媒体制品有限公司 | Welder |
| CN110293274A (en) * | 2019-08-15 | 2019-10-01 | 雷海鹏 | A kind of welder facilitating feeding |
| CN110860759A (en) * | 2019-12-26 | 2020-03-06 | 广州市谊华电子设备有限公司 | Electric soldering iron robot capable of rapidly soldering tin |
| CN114043030A (en) * | 2021-10-25 | 2022-02-15 | 杭州中芯微电子有限公司 | Be used for SMA antenna connector interface connecting wire head tin welding equipment |
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Address after: 510000 363 Changxin Road, Tianhe District, Guangzhou, Guangdong. Patentee after: China Uzbekistan Welding Research Institute Guangdong Academy of Sciences Address before: 510000 363 Changxin Road, Tianhe District, Guangzhou, Guangdong. Patentee before: Guangdong Welding Institute (China-Ukraine E.O. Paton Institute of Welding) |
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