Automatic welding robot for circuit board

Abstract

The invention relates to an automatic circuit board welding robot which comprises a console, a programming teaching module and a control center, a manipulator and a support are arranged on the upper surface of the console, the manipulator is connected with a rotating shell, a rolling wheel is arranged in the rotating shell, a solder wire is wound on the rolling wheel, a wire outlet pipe and a first electric push rod are arranged at the bottom of the rotating shell, and a wire outlet mechanism is arranged on the wire outlet pipe. The first electric push rod is connected with an electric soldering iron, the support is connected with a bottom box through an inversion mechanism, an air bag is arranged in the bottom box, the bottom box is provided with a second electric push rod, and the upper portion of the bottom box is connected with a clamping mechanism through the second electric push rod. The welding route and the welding point position information are input into a control center, and the control center is used for controlling the manipulator, the electric soldering iron, the wire outlet mechanism and the first electric push rod to work. And continuous and automatic welding can be carried out by moving to a welding point according to a welding route, so that the production efficiency can be improved, the consistency of welded products can be ensured, and the product quality can be improved.

Description

Technical Field

[0001] The invention belongs to the technical field of welding robots, and in particular relates to an automatic circuit board welding robot. Background Art

[0002] A circuit board, also known as a PCB board, is a substrate made of insulating materials such as glass fiber cloth, epoxy resin, and polyimide. It is necessary to use chemical etching technology to remove the copper part not covered by photo-painting on the substrate to form a circuit pattern on the substrate. It is also necessary to use a drill to drill a through hole on the substrate, and then use copper deposition technology to deposit copper on the hole wall to form a conductive through hole, and the conductive through hole is connected to the circuit on the substrate. After the contact pins of the electrical components pass through the through hole, the solder wire is soldered into the through hole using an electric soldering iron, so that the contact pins and the circuit form a path connection. However, when welding circuit boards in the prior art, electrical components are generally soldered to the substrate by manual soldering. The method is to hold an electric soldering iron in one hand and a solder wire in the other hand, and use an electric soldering iron to melt the solder wire and fuse it between the circuit, the conductive through hole, and the contact pins. However, a large number of electrical components often need to be soldered on a circuit board. For example, each contact pin needs to be manually soldered separately, which has a large welding workload and low efficiency. It is not suitable for mass production, and the consistency of the welded products is poor, and the production quality is difficult to guarantee. Summary of the invention

[0003] The present invention provides an automatic circuit board welding robot, which can automatically weld circuit boards, thereby improving production efficiency, ensuring the consistency of welding products, and improving product quality.

[0004] The technical solution adopted by the present invention is:

[0005] A circuit board automatic welding robot comprises a control console, a programming teaching module and a control center, wherein a manipulator and a support are arranged on the upper surface of the control console, wherein the manipulator is connected to a rotating shell, wherein a reel is arranged in the rotating shell for rotation, and solder wire is wound on the reel, wherein a wire outlet tube and an electric push rod are arranged at the bottom of the rotating shell, wherein a wire outlet mechanism is arranged on the wire outlet tube, and the electric push rod is connected to an electric soldering iron, and when the electric push rod moves the electric soldering iron below the wire outlet tube, the wire outlet mechanism can pull the solder wire from the reel and push it onto the electric soldering iron through the wire outlet tube, and when the electric push rod moves the electric soldering iron to one side, welding is stopped, and the support is connected to a bottom box via an inversion mechanism, and an air bag is arranged in the bottom box The airbag extends out of the open end of the bottom box, and two electric push rods are provided on the opposite side walls of the bottom box. A clamping mechanism is connected to the top of the bottom box through the two electric push rods, and the clamping mechanism is used to clamp the substrate. The two electric push rods can drive the substrate to squeeze onto the airbag or away from the airbag through the clamping mechanism. The inversion mechanism can drive the bottom box, the airbag, the clamping mechanism and the substrate to an inverted or upright state. The programming teaching module is used to generate a welding route according to the welding point position information, and input the welding route and the welding point position information into the control center. The control center is used to control the operation of the manipulator, the electric soldering iron, the wire output mechanism and the electric push rod to move to the welding point according to the welding route for welding.

[0006] Furthermore, the wire-out mechanism includes a plurality of wheel cavities arranged on opposite side walls of the wire-out tube, a wire-out wheel is arranged in the wheel cavity, the solder wire is clamped by two opposite wire-out wheels, and the control center is electrically connected to the wire-out wheel for controlling the rotation of the wire-out wheel to control the wire output.

[0007] Furthermore, two supports are arranged opposite to each other on the console, and the inversion mechanism includes a second motor arranged on any of the supports, the output shaft of the second motor is connected to a side wall of the bottom box, and the other base is connected to the other side wall of the bottom box.

[0008] Furthermore, the clamping mechanism includes a fixed chuck arranged on the two telescopic ends of any one of the electric push rods and a fixed sleeve arranged on the two telescopic ends of the other electric push rod. A movable chuck is connected to the fixed sleeve through a spring so that the movable chuck can slide elastically in the fixed sleeve. The movable chuck is arranged opposite to the fixed chuck.

[0009] Furthermore, the manipulator is connected to a fixed shell, a motor is provided at the bottom of the fixed shell, an output shaft of the motor passes through the bottom wall of the fixed shell and is connected to a rotating shell, the wire outlet tube and the electric soldering iron are located on the outside of the output shaft of the motor, and the wire outlet tube and the electric soldering iron are located on the same side, the control center is electrically connected to the motor, and when the manipulator drives the wire outlet tube and the electric soldering iron to the edge of the welding point according to the welding route, the output shaft of the motor is aligned with the center of the welding point, and the control center is electrically connected to the motor.

[0010] Furthermore, a positioning block is provided on the end of the fixing clamp.

[0011] Furthermore, the programming teaching module is electrically connected to a touch screen, and the touch screen is used to input welding point position parameter information and transmit it to the programming teaching module.

[0012] Furthermore, the welding method comprises the following steps:

[0013] S1. Using the touch screen to input the position parameter information of each welding point in sequence, the programming and teaching module generates a serpentine welding route according to the position parameter information of each welding point;

[0014] S2, using the inverting mechanism to drive the clamping mechanism, the bottom box and the airbag to an inverted state, using the clamping mechanism to clamp the substrate, and based on the fact that there are a plurality of through holes preset on the substrate, inserting the contact pins of the electrical components into the through holes at a preset position, so that the electrical components are placed on the upper surface of the substrate;

[0015] S3, using the second electric push rod to drive the substrate and the electrical components thereon to rise and squeeze onto the airbag through the clamping mechanism;

[0016] S4, using the inverted mechanism to drive the clamping mechanism, the bottom box and the airbag to the upright state, the control center controls the manipulator to drive the electric soldering iron and the wire outlet tube to move above one side of the welding point according to the welding route, and then controls the manipulator to drive the wire outlet tube to descend close to the through hole and the contact pin side, the control center controls the electric push rod to drive the heating end of the electric soldering iron to move below the wire outlet tube, and the control center controls the wire outlet mechanism to push the solder wire onto the electric soldering iron;

[0017] S5, the control center controls the motor 1 to drive the electric soldering iron and the wire outlet tube to rotate at least one circle around the through hole and the contact pin, and the control center controls the electric push rod 1 to drive the electric soldering iron to move to one side away from the solder wire;

[0018] S6, the control center controls the manipulator to drive the electric soldering iron and the wire outlet tube to rise and then move to the next welding point position for welding until the welding of the welding point is completed.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. Use the inverting mechanism to drive the clamping mechanism, bottom box and airbag to the inverted state. After clamping the substrate with the clamping mechanism, insert the contact pins of all electrical components into the corresponding through holes according to the preset position. Then use the electric push rod 2 to drive the substrate and the electrical components thereon to rise and squeeze them on the airbag, and then turn the substrate to the upright state. Multiple electrical components can be pre-positioned on the substrate at the same time for continuous welding.

[0021] 2. Use the programming teaching module to input the welding route and welding point position parameter information into the control center. Use the control center to control the manipulator, electric soldering iron, wire outlet mechanism and electric push rod to work together. It can move to each welding point according to the welding route for automatic continuous welding, which is beneficial to improve production efficiency, ensure the consistency of welding products, and improve product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 for Figure 1 A in the enlarged view;

[0024] Figure 3 for Figure 1 The enlarged view of point B in the figure;

[0025] Figure 4 It is a schematic diagram of the welding route and welding points on the substrate;

[0026] Figure 5 It is the electric control principle diagram of the present invention;

[0027] In the figure: 1. control console; 2. support; 3. bottom box; 4. motor 2; 5. manipulator; 6. airbag; 7. electric push rod 2; 8. movable clamp; 9. fixed sleeve; 10. spring; 11. motor 1; 12. fixed shell; 13. reel; 14. rotating shell; 15. fixed clamp; 16. substrate; 17. electrical component; 18. wheel cavity; 19. wire outlet tube; 20. solder wire; 21. contact foot; 22. through hole; 23. electric soldering iron; 24. electric push rod 1; 25. wire outlet wheel; 26. coordinate system; 27. welding route; 28. positioning block; 29. ​​programming teaching module; 30. control center; 31. touch screen. DETAILED DESCRIPTION

[0028] In order to better understand the technical content of the present invention, specific embodiments are provided below, and the present invention is further described in conjunction with the accompanying drawings.

[0029] See also Figures 1 to 5The present invention provides an automatic circuit board welding robot, including a control console 1, a programming and teaching module 29 and a control center 30. A manipulator 5 and a support 2 are arranged on the upper surface of the control console 1. The manipulator 5 adopts a five-axis or six-axis manipulator 5 in the prior art. The manipulator 5 is connected to a rotating shell 14. The manipulator 5 can drive the rotating shell 14 to move. A reel 13 is arranged in the rotating shell 14 for rotation. A solder wire 20 is wound on the reel 13. A wire outlet tube 19 is vertically fixedly penetrated at the bottom of the rotating shell 14. A wire outlet tube 19 is also arranged on the bottom of the rotating shell 14. An electric push rod 24 is fixedly arranged horizontally, and a wire outlet mechanism is arranged on the wire outlet tube 19. The telescopic end of the electric push rod 24 is fixedly connected with an electric soldering iron 23. When the electric push rod 24 moves the heating end of the electric soldering iron 23 to below the wire outlet tube 19, the wire outlet mechanism can pull the solder wire 20 out of the reel 13 and push it to the heating end of the electric soldering iron 23 through the wire outlet tube 19. When the electric push rod 24 moves the electric soldering iron 23 to one side, the heating end of the electric soldering iron 23 leaves the solder wire 20 to stop welding. The support 2 is connected to the support 2 by an inverted mechanism. A bottom box 3 is connected, the bottom box 3 has an open end, an airbag 6 is arranged in the bottom box 3, the airbag 6 extends out of the open end of the bottom box 3, and electric push rods 2 7 are fixed on the opposite side walls of the bottom box 3. The telescopic end of the electric push rod 2 7 is connected with a clamping mechanism, and the clamping mechanism is located above the open end of the bottom box 3. The clamping mechanism is used to clamp the opposite side of the substrate 16. The substrate 16 is preset with a plurality of through holes 22 adapted to the contact pins 21 of each electrical component 17. The electric push rod 2 7 can drive the substrate 16 to squeeze on or away from the airbag 6 through the clamping mechanism. The airbag 6 and the inversion mechanism can drive the bottom box 3, the airbag 6, the clamping mechanism and the base plate 16 to an inverted or upright state. The programming and teaching module 29 is used to input the welding route 27 and the welding point position parameter information into the control center 30 by programming or teaching. The control center 30 is used to control the operation of the manipulator 5, the electric soldering iron 23, the wire output mechanism and the electric push rod 24 to move to the welding point according to the welding route 27 for welding. The programming and teaching module 29 and the control center 30 are both integrated in the console 1.

[0030] Preferably, the wire-out mechanism includes a plurality of wheel cavities 18 arranged on opposite side walls of the wire-out tube 19, a wire-out wheel 25 is arranged in the wheel cavity 18, the solder wire 20 is clamped by two opposite wire-out wheels 25, and a control center 30 is electrically connected to the wire-out wheel 25 for controlling the rotation of the wire-out wheel 25 to control the wire-out. When the control center 30 controls the wire-out wheel 25 on the left to rotate clockwise and the wire-out wheel 25 on the right to rotate counterclockwise, the solder wire 20 on the reel 13 can be pushed out from the lower end of the wire-out tube 19. When welding needs to be stopped, the control center 30 controls the reel 13 to stop rotating.

[0031] Preferably, two supports 2 are relatively fixedly provided on the console 1, and the inversion mechanism includes a motor 2 4 fixedly provided on the left support 2, the output shaft of the motor 2 4 passes through the support 2 and is connected to the left side wall of the bottom box 3, the base on the right side is connected to the right side wall of the bottom box 3, and supporting the bottom box 3 from both sides can improve the strength of the supporting structure, and the motor 2 4 can drive the bottom box 3 to rotate to an upright or inverted state.

[0032] Preferably, the clamping mechanism includes a fixed chuck 15 fixedly arranged on the telescopic end of the right electric push rod 27 and a fixed sleeve 9 fixedly arranged on the telescopic end of the left electric push rod 27. The fixed sleeve 9 is horizontally arranged, and a movable chuck 8 is connected to the fixed sleeve 9 through a spring 10. The spring 10 is thrown into the fixed sleeve 9, and both ends of the spring 10 are connected to the inner end wall of the fixed sleeve 9 and the end of the movable chuck 8, so that the movable chuck 8 can slide elastically in the fixed sleeve 9. The movable chuck 8 is arranged opposite to the fixed chuck 15. After one end of the substrate 16 is inserted into the fixed chuck 15, the movable chuck 8 is pushed into the fixed sleeve 9 to compress the spring 10, and the other end of the substrate 16 is clamped in the movable chuck 8. The rebound force of the spring 10 is used to position and clamp the substrate 16, so that the substrate 16 can be quickly fixed.

[0033] Preferably, the manipulator 5 is fixedly connected to a fixed shell 12, a motor 11 is fixedly provided at the bottom of the fixed shell 12, the output shaft of the motor 11 passes through the bottom wall of the fixed shell 12 and is fixedly connected to the top of the rotating shell 14, the wire outlet tube 19 and the electric soldering iron 23 are both located on the right side of the output shaft of the motor 11, the control center 30 is electrically connected to the motor 11, when the manipulator 5 drives the wire outlet tube 19 and the electric soldering iron 23 to move to the edge of the welding point according to the welding route 27, since the axis of the output shaft of the motor 11 vertically passes through the center of the welding point, the control center 30 is electrically connected to the motor 11, when the motor 11 drives the rotating shell 14 to rotate, the rotating shell 14 can drive the wire outlet tube 19 and the electric soldering iron 23 to rotate around the center of the through hole 22 through the electric push rod 24, which can increase the welding length and is beneficial to improving the welding strength.

[0034] Preferably, a positioning block 28 is fixed on the end of the fixing chuck 15. When the substrate 16 is clamped in the fixing chuck 15, the right side and bottom side of the substrate 16 are respectively pressed against the fixing chuck 15 and the positioning block 28 to determine the base point coordinates of the welding point position parameters.

[0035] Preferably, the programming teaching module 29 is electrically connected to the touch screen 31 . When in use, the operator can input welding point position parameter information through the touch screen 31 and transmit it to the programming teaching module 29 .

[0036] Preferably, the welding method comprises the following steps:

[0037] S1. A coordinate system 26 is established with the lower right corner of the substrate 16 as the base point to obtain the position parameter information of each welding point. The operator uses the touch screen 31 to input the position parameter information of each welding point in sequence. The programming and teaching module 29 generates a serpentine welding route 27 according to the input sequence of the position parameter information of each welding point. Specifically, the end of the upward welding route 27 is connected to the beginning of the downward welding route 27, and the beginning of any welding route 27 in two adjacent rows of welding routes 27 is aligned with the end of the other row, forming a plurality of S-shaped adjacent route shapes, which is conducive to shortening the length of the welding route 27, thereby improving the welding efficiency;

[0038] S2, using the inverting mechanism to drive the clamping mechanism, the bottom box 3 and the airbag 6 to the inverted state, after the substrate 16 is clamped by the clamping mechanism, based on the fact that there are a plurality of through holes 22 preset on the substrate 16, the electrical component 17 is inserted into the through holes 22 at a preset position with the contact pins 21, so that the electrical component 17 is placed on the upper surface of the substrate 16;

[0039] S3. After the electrical components 17 are placed, the electric push rod 27 is used to drive the substrate 16 and the electrical components 17 thereon to rise and squeeze them onto the airbag 6 through the clamping mechanism, and the deformation energy of the airbag 6 is used to fix all the electrical components 17 well onto the substrate 16;

[0040] S4, using the inverting mechanism to drive the clamping mechanism, the bottom box 3 and the airbag 6 to the upright state for welding, the control center 30 controls the manipulator 5 to drive the electric soldering iron 23 and the wire outlet tube 19 to move to the upper side of the welding point according to the welding route 27, and then controls the manipulator 5 to drive the wire outlet tube 19 to descend close to the through hole 22 and the side of the contact pin 21, the control center 30 controls the electric soldering iron to heat, the control center 30 controls the electric push rod 24 to drive the heating end of the electric soldering iron 23 to move below the wire outlet tube 19, the control center 30 controls the wire outlet mechanism to push the solder wire 20 onto the electric soldering iron 23, and uses the electric soldering iron 23 to quickly heat the solder wire 20 to melt it and drip it on the edge of the through hole 22, so that the contact pin 21 is welded in the through hole 22 and welded on the circuit, so that the contact pin 21 forms a path with the circuit;

[0041] S5, the control center 30 controls the motor 11 to drive the electric soldering iron 23 and the wire outlet tube 19 to rotate at least one circle around the through hole 22 and the contact pin 21, so as to continuously weld the four sides of the contact pin 21, which is beneficial to improve the welding quality and avoid the problem of poor contact caused by poor welding. After the welding is completed, the control center 30 controls the electric push rod 24 to drive the electric soldering iron 23 to move away from the solder wire 20 to one side, so as to avoid the solder wire 20 from being further heated and melted by the electric soldering iron 23;

[0042] S6, the control center 30 controls the manipulator 5 to drive the electric soldering iron 23 and the wire outlet tube 19 to rise and then move to the next welding point position for welding until the welding of the welding point is completed;

[0043] S7, the control center 30 controls the electric push rod 2 7 to drive the circuit board to rise through the clamping mechanism, so as to facilitate the removal of the welded circuit board from the clamping mechanism.

[0044] The present invention can move to each welding point according to the welding route 27 to perform automatic continuous welding, which is beneficial to improving production efficiency, and can also ensure the consistency of welding products, which is beneficial to improving product quality.

[0045] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A circuit board automatic welding robot, characterized in that: It comprises a control console, a programming teaching module and a control center, wherein a manipulator and a support are arranged on the upper surface of the control console, wherein the manipulator is connected to a rotating shell, wherein a reel is arranged in the rotating shell for rotation, and solder wire is wound on the reel, wherein a wire outlet tube and an electric push rod are arranged at the bottom of the rotating shell, wherein a wire outlet mechanism is arranged on the wire outlet tube, and the electric push rod is connected to an electric soldering iron, and when the electric push rod moves the electric soldering iron below the wire outlet tube, the wire outlet mechanism can pull the solder wire out of the reel and push it onto the electric soldering iron through the wire outlet tube, and when the electric push rod moves the electric soldering iron to one side, welding is stopped, and the support is connected to a bottom box via an inverting mechanism, wherein an air bag is arranged in the bottom box, and the air bag is extended The open end of the bottom box is exposed, and two electric push rods are provided on the opposite side walls of the bottom box. A clamping mechanism is connected to the top of the bottom box through the two electric push rods. The clamping mechanism is used to clamp the substrate. The two electric push rods can drive the substrate to squeeze onto the airbag or away from the airbag through the clamping mechanism. The inversion mechanism can drive the bottom box, the airbag, the clamping mechanism and the substrate to an inverted or upright state. The programming teaching module is used to generate a welding route according to the welding point position information, and input the welding route and the welding point position information into the control center. The control center is used to control the operation of the manipulator, the electric soldering iron, the wire output mechanism and the electric push rod to move to the welding point according to the welding route for welding.

2. The circuit board automatic welding robot according to claim 1, characterized in that: The wire-exiting mechanism comprises a plurality of wheel cavities arranged on opposite side walls of the wire-exiting tube, wherein a wire-exiting wheel is arranged in the wheel cavity, and the solder wire is clamped by two opposite wire-exiting wheels. The control center is electrically connected to the wire-exiting wheel for controlling the rotation of the wire-exiting wheel to control the wire-exiting.

3. The circuit board automatic welding robot according to claim 1, characterized in that: Two supports are arranged opposite to each other on the console, and the inversion mechanism includes a second motor arranged on any of the supports, the output shaft of the second motor is connected to a side wall of the bottom box, and the other base is connected to the other side wall of the bottom box.

4. The circuit board automatic welding robot according to claim 1, characterized in that: The clamping mechanism includes a fixed chuck arranged on the two telescopic ends of any one of the electric push rods and a fixed sleeve arranged on the two telescopic ends of the other electric push rod. A movable chuck is connected to the fixed sleeve through a spring so that the movable chuck can slide elastically in the fixed sleeve. The movable chuck is arranged opposite to the fixed chuck.

5. The circuit board automatic welding robot according to claim 1, characterized in that: The manipulator is connected to a fixed shell, a motor 1 is provided at the bottom of the fixed shell, an output shaft of the motor 1 passes through the bottom wall of the fixed shell and is connected to a rotating shell, the wire outlet tube and the electric soldering iron are located on the outside of the output shaft of the motor 1, and the wire outlet tube and the electric soldering iron are located on the same side, the control center is electrically connected to the motor 1, when the manipulator drives the wire outlet tube and the electric soldering iron to move to the edge of the welding point according to the welding route, the output shaft of the motor 1 is aligned with the center of the welding point, and the control center is electrically connected to the motor 1.

6. The circuit board automatic welding robot according to claim 5, characterized in that: A positioning block is provided on the end of the fixed clamp.

7. The circuit board automatic welding robot according to claim 6, characterized in that: The programming teaching module is electrically connected to a touch screen, and the touch screen is used to input welding point position parameter information and transmit it to the programming teaching module.

8. The circuit board automatic welding robot according to claim 7, characterized in that: The welding method steps include the following: S1. Using the touch screen to input the position parameter information of each welding point in sequence, the programming and teaching module generates a serpentine welding route according to the position parameter information of each welding point; S2, using the inverting mechanism to drive the clamping mechanism, the bottom box and the airbag to an inverted state, using the clamping mechanism to clamp the substrate, and based on the fact that there are a plurality of through holes preset on the substrate, inserting the contact pins of the electrical components into the through holes at a preset position, so that the electrical components are placed on the upper surface of the substrate; S3, using the second electric push rod to drive the substrate and the electrical components thereon to rise and squeeze onto the airbag through the clamping mechanism; S4, using the inverted mechanism to drive the clamping mechanism, the bottom box and the airbag to the upright state, the control center controls the manipulator to drive the electric soldering iron and the wire outlet tube to move above one side of the welding point according to the welding route, and then controls the manipulator to drive the wire outlet tube to descend close to the through hole and the contact pin side, the control center controls the electric push rod to drive the heating end of the electric soldering iron to move below the wire outlet tube, and the control center controls the wire outlet mechanism to push the solder wire onto the electric soldering iron; S5, the control center controls the motor 1 to drive the electric soldering iron and the wire outlet tube to rotate at least one circle around the through hole and the contact pin, and the control center controls the electric push rod 1 to drive the electric soldering iron to move to one side away from the solder wire; S6, the control center controls the manipulator to drive the electric soldering iron and the wire outlet tube to rise and then move to the next welding point position for welding until the welding of the welding point is completed.

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