CN210817834U - Automatic tin soldering robot system - Google Patents

Abstract

The utility model provides an automatic soldering tin robot system, include: the soldering iron comprises a soldering iron head, a soldering iron host, a tin wire feeding mechanism, a tin slag remover, an electric cabinet, a programming handle and a mechanical structure frame; the soldering bit is electrically connected with the soldering bit main machine, and the soldering bit main machine controls the temperature of the soldering bit through an electric wire; the soldering iron host is placed on the flat plate beside the side upright post plate; the soldering iron head is fixed at the tail end of the R module rotating shaft by the soldering iron clamping mechanism. Use the utility model discloses can be used for accomplishing the welding between the through-hole pin component of electronic product and the printed wiring board pad.

Description

Automatic tin soldering robot system

Technical Field

The application relates to the technical field of industrial robots, in particular to an automatic tin soldering robot system.

Background

In the prior art, the motion control mode of the soldering machine generally adopts open-loop control, so that when an execution part is disturbed by external force, the phenomenon that the execution part cannot reach a target position may occur, and the stability of the motion control is poor. The main reasons for the above problems are: acceleration and deceleration and instantaneous overload of the stepping motor can cause 'step loss' and cause dislocation of control and execution; because the open-loop control system has no feedback information on the rotation condition of the motor and the running position of the execution component, the whole system cannot sense the error in running and cannot stop, and the continuous running can cause the damage of equipment components or the damage of product workpieces.

In addition, the conversion process from electric energy to mechanical kinetic energy between the motor and the executing component adopts a belt transmission mode, and a synchronous belt is usually made of rubber or nylon and the like. Because the flexibility of the belt material is easy to stretch and deform when stressed, and the executing component has overshoot and rebound phenomena at a target position, the executing component at the tail end of the transmission has poor positioning rigidity and low positioning precision.

SUMMERY OF THE UTILITY MODEL

In view of the above, the present invention provides an automatic soldering robot system, which can be used to complete the soldering between the through-hole pin component of the electronic product and the pad of the printed circuit board.

The technical scheme of the utility model specifically be so realized:

an automated solder robot system, the system comprising: the soldering iron comprises a soldering iron head, a soldering iron host, a tin wire feeding mechanism, a tin slag remover, an electric cabinet, a programming handle and a mechanical structure frame;

the soldering bit is electrically connected with the soldering bit main machine, and the soldering bit main machine controls the temperature of the soldering bit through an electric wire; the soldering iron host is placed on the flat plate beside the side upright post plate; the soldering iron head is fixed at the tail end of the R module rotating shaft by the soldering iron clamping mechanism.

Preferably, the mechanical structural frame comprises:

the electric soldering iron comprises a ground cup, a bottom plate, a side upright plate, a front panel, a rear panel, an electric control box cover plate, an X module, a Y module, a Z module, an R module, a soldering iron clamping mechanism and a carrying plate.

Preferably, the solder wire feeding mechanism includes: a tin breaking device and a tin feeding tube.

As can be seen from the above, the utility model provides an automatic soldering tin robot system can be used for accomplishing the welding between the through-hole pin component of electronic product and the printed wiring board pad. The robot system accurately moves the position of a soldering bit carried on a mechanical part through automatic control, and the four direction axes of XYZR are driven by a closed-loop feedback stepping motor to drive a lead screw to realize accurate welding of elements at different positions on a circuit board. The heat of the welding head in the welding process enables the soldering tin wire to be melted and then to be filled in the gap, and the metal electrical property between the element pin and the circuit board bonding pad is conducted.

Drawings

Fig. 1 is a schematic view of a control framework of an automatic tin soldering robot system according to an embodiment of the present invention.

Fig. 2 is a schematic perspective view of an automatic tin soldering robot system according to an embodiment of the present invention.

Fig. 3 is a front view of an automatic tin soldering robot system according to an embodiment of the present invention.

Fig. 4 is a partial schematic view of an automatic soldering robot system according to an embodiment of the present invention.

Detailed Description

In order to make the technical solution and advantages of the present invention more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.

Fig. 1 is a schematic view of a control framework of an automatic tin soldering robot system according to an embodiment of the present invention. As shown in fig. 1, the core control part of the automatic tin soldering robot system in the utility model is an electric cabinet main machine 101, an external programming handle 102 of the electric cabinet main machine 101 is used for debugging the parameters of the welding program, and the system automatically executes the instruction according to the program parameters during automatic operation. An input key and a liquid crystal display panel are embedded in the programming handle 102 and used for setting and displaying program parameters and prompt information of the electric cabinet host 101, and the programming handle 102 is a main interface of man-machine interaction; for common operations such as starting, sudden stop and the like, the signals can be quickly transmitted to the electric cabinet host 101 to execute control instructions through the quick operation of the operation button 103; the tin dross remover 104 and the motor drive 105 receive the instruction of the electric control box host 101 to execute the task. After receiving the command, the motor driver 105 precisely moves the motors of the respective motion axes to the target positions to complete the pin welding of the components.

Fig. 2 is a schematic perspective view of an automatic tin soldering robot system according to an embodiment of the present invention. As shown in fig. 2, the automatic soldering robot system in the embodiment of the present invention includes:

the soldering iron comprises a soldering iron head 1, a soldering iron main machine 2, a tin wire feeding mechanism, a tin dross remover 4, an electric cabinet 5, a programming handle 6 and a mechanical structure frame.

In addition, preferably, in an embodiment of the present invention, the mechanical structure frame specifically includes: the device comprises a ground cup 7, a bottom plate 8, a side upright post plate 9, a front panel 10, a rear panel 11, an electric cabinet cover plate 12, an X module 13, a Y module 14, a Z module 15, an R module 16, an iron clamping mechanism 17 and a carrying plate 18.

In an embodiment of the present invention, the soldering bit 1 and the soldering iron main unit 2 are electrically connected, and the soldering iron main unit controls the temperature of the soldering bit through an electric wire. The soldering iron host machine is placed on the flat plate beside the side upright post plate. The soldering iron tip is secured to the end of the R-module 16 rotation shaft by a soldering iron holding mechanism 17.

In addition, the tin wire feeding mechanism comprises: the tin breaking device is electrically connected with the control box main machine, when the main machine sends a tin sending signal, a motor shaft of the tin breaking device drives the blade-shaped gear set to rotate, the side face of a tin wire is punctured by the blade to expose the rosin wire core while the tin wire is conveyed forwards, and the rosin expansion, explosion and splashing of the solder wire wrapped by the solder wire during welding heating are avoided. The tin feeding pipe feeds the tin wire output from the tin breaking device to the soldering iron head through a pipeline, and the outlet of the pipeline is aligned with the soldering iron tip and fixed on the soldering iron clamping mechanism by using a screw; the inside of the tin dross remover 4 is provided with a steel brush which can rotate at a high speed, and when a starting signal is received, the steel brush rotates to remove tin dross and impurities on the soldering iron head. The tin dross remover is fixed on the surface of the electric control box cover plate 12 near the left upright post area by screws; electric connection between electric cabinet 5 and programming handle 6 accomplishes signal transmission, and the core part of electric cabinet is the electric cabinet host computer, and the screw mounting is on bottom plate 8 for the electric cabinet host computer. The space structure of the electric cabinet comprises six surfaces consisting of a bottom plate 8, roots of left and right side upright post plates 9, a front panel 10, a rear panel 11, an electric cabinet cover plate 12 and the like, and all the panels are mutually locked and fixed by screws. The front panel is provided with operating buttons such as a switch and the like, and is electrically connected with the control box main machine. The rear panel is provided with a power socket, a heat radiation fan, a programming interface and the like which are electrically connected with the main machine of the control box and are used for supplying power to the main machine, radiating heat and communicating with the programming handle; the ground cup 7 is screwed at four corners of the bottom plate by mechanical threads, so that the machine can be stably supported and the levelness of the machine can be adjusted; the Y module 14 is installed on the vertical central line of the bottom plate through a screw, a Y module screw rod and the motor are locked through a coupler, the screw rod pair drives the sliding block to reciprocate, and the sliding block slides by being supported by the sliding rail. A strip-shaped supporting block is arranged on the sliding block and penetrates through the slot of the electric control box cover plate, and the carrying plate 18 is arranged on the strip-shaped supporting block of the Y-shaped module sliding block by using a screw to realize the front and back movement; the X module 13 is fixedly arranged between the upper ends of the left and right side vertical plates by screws, a screw rod of the X module and the motor are locked by a coupler, a screw rod pair drives a sliding block to reciprocate, and the sliding block slides in the left and right directions by being supported by a sliding rail; the Z module 15 is fixedly arranged on the X module sliding block by a screw, a Z module screw rod and the motor are locked by a coupling, the screw rod pair drives the sliding block to reciprocate, and the sliding block slides up and down by being supported by the sliding rail; the R module 16 is fixedly arranged on the Z module sliding block by a screw, a rotating shaft of the R module and the motor are transmitted by a synchronizing wheel speed reducing mechanism, and the upper part and the middle part of the rotating shaft are connected by a bearing and a Z module sliding block seat to realize rotation in an XY plane; the soldering iron clamping mechanism is fixedly installed at the lower end of a rotating shaft of the R module through screws, namely, the soldering iron head realizes the movement in the directions of X left and right, Z up and down and R rotation, a circuit board to be welded is placed on an object carrying plate to realize the movement in the front and back directions of Y, the XYZR module integrally forms a gantry type movement structure which moves in the direction of Y of a workpiece to be machined and moves in the direction of XZR of a working head, and the accurate and stable welding and positioning working state is realized for the welding of circuit board elements.

In summary, the technical solution of the present invention is that, in the same measurement cost range, the core driving component of each motion axis adopts a closed-loop stepping motor system with encoder feedback. When the execution part is interfered by external force, the micro change of the angular displacement of the rotating shaft of the motor is caused, the encoder synchronously rotating with the motor shaft can feed back the rotation information of the motor shaft, and meanwhile, the control system can compensate the deviation of the angular displacement of the motor shaft, so that the execution part can accurately reach a target position, and the step-out error is completely eliminated; when the closed-loop stepping system has errors and cannot perform compensation adjustment, alarm information can be sent to the control system, the equipment is stopped to run, and the equipment is restarted until the faults are eliminated, so that the safety of equipment parts and workpieces is ensured.

The transmission mode from the motor to the execution part adopts a ball screw structure. The ball screw is made of steel, can bear larger moment and has small deformation when stressed. The ball screw enables the executive component to accurately reach the target position, the executive component does not have the problems of overshoot and rebound at the target position, and the positioning rigidity is high and the precision is high.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (3)

1. An automated solder robot system, comprising: the soldering iron comprises a soldering iron head, a soldering iron host, a tin wire feeding mechanism, a tin slag remover, an electric cabinet, a programming handle and a mechanical structure frame;

the soldering bit is electrically connected with the soldering bit main machine, and the soldering bit main machine controls the temperature of the soldering bit through an electric wire; the soldering iron host is placed on the flat plate beside the side upright post plate; the soldering iron head is fixed at the tail end of the R module rotating shaft by the soldering iron clamping mechanism.

2. The system of claim 1, wherein the mechanical structural frame comprises:

the electric soldering iron comprises a ground cup, a bottom plate, a side upright plate, a front panel, a rear panel, an electric control box cover plate, an X module, a Y module, a Z module, an R module, a soldering iron clamping mechanism and a carrying plate.

3. The system of claim 1,

send tin silk mechanism to include: a tin breaking device and a tin feeding tube.

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