A tachograph data storage chip dismounting and welding device

Abstract

The application provides a driving recorder data storage chip dismounting and welding device. The position driving structure drives the robot hand to move between the dismounting station and the mounting station, and the position of the robot hand is moved during the chip dismounting and mounting process. The screw rod driving motor in the robot hand drives the clamping plates arranged in pairs in the finger structure to complete the clamping and releasing actions. The robot hand rotating motor drives the clamping structure and the wrist telescopic rod to adjust the angle of the clamping structure, so that the fine actions of the chip dismounting and mounting in the dismounting station and the mounting station can be realized. Based on the device, the driving recorder data storage chip can be quickly and accurately dismounted and welded, which is efficient and less prone to errors.

Description

Technical Field

[0001] This invention relates to the field of data extraction technology for damaged driving recorders, specifically to a device for disassembling and soldering data storage chips for driving recorders. Background Technology

[0002] Most large trucks, lorries, and buses are equipped with driving recorders (DRLs). These DRLs record real-time data such as speed, braking, and GPS location (latitude and longitude). In the event of a traffic accident, this data can be retrieved for judgment or analysis. However, in major accidents, the DRL may be damaged, rendering the data unusable. For example, the power interface may be damaged, the data read port may be damaged, or even the entire circuit board may be damaged, leaving only the flash data storage chip intact. In this situation, one effective solution is to remove the data storage chip from the damaged DRL's circuit board and install it on the circuit board of a new, intact DRL of the same model. This allows the new DRL to retrieve the accident vehicle's driving data. Currently, the data storage chip can only be disassembled and soldered manually by technicians using tools such as hot air guns and soldering irons. At the same time, the chip installation in the driving recorder is quite complicated, requiring adjustments to multiple angles during disassembly and installation. Manual operation is not only inefficient and difficult, but also prone to damaging the data storage chip, which inconveniences traffic accident investigations. Therefore, a device is needed to facilitate the disassembly and installation of the data storage chip in the driving recorder to assist in completing this process. Summary of the Invention

[0003] To address the problems of low efficiency, high difficulty, and easy damage to the data storage chip when manually removing the data storage chip of a driving recorder in the existing technology, the present invention provides a driving recorder data storage chip disassembly and soldering device, which can quickly and accurately complete the disassembly and soldering of the driving recorder data storage chip, which is not only highly efficient but also less prone to errors.

[0004] The technical solution of the present invention is as follows: a device for disassembling and soldering a data storage chip of a driving recorder, characterized in that it includes: a position driving structure, a robotic arm, a soldering gun, an electric heating desoldering device, and a worktable;

[0005] The driving recorder with the chip to be removed and the driving recorder with the chip to be installed are respectively placed on the horizontally set workbench. The soldering gun and the electric desoldering pump are installed on the robot arm. The robot arm is set above the workbench. Under the drive of the position drive structure, the position movement of the soldering gun and the electric desoldering pump during the chip removal and installation process is completed, as well as the position movement of the robot arm between the removal station and the installation station is completed.

[0006] The robotic hand includes: a finger structure, a gripping structure, and a wrist steering structure, wherein the finger structure is disposed on the gripping structure, and the gripping structure is mounted on the wrist steering structure;

[0007] The finger structure includes: a pair of clamping plates, symmetrical anti-slip layers on the bottom adjacent sidewalls of the two clamping plates, and the soldering gun and the electric desoldering pump on the other sidewall.

[0008] The clamping structure includes: a rotating block, a bidirectional screw, an adjusting plate, an adjusting rod, and a screw drive motor;

[0009] The bidirectional screw includes: a first threaded section and a second threaded section are provided on the rod body; the first threaded section and the second threaded section have the same thread and the same length, but are arranged symmetrically with opposite thread directions;

[0010] The bottom of the rotating block is provided with a downward-facing rotating groove, and the bidirectional screw is horizontally and rotatably disposed in the rotating groove; the screw drive motor is fixed outside the rotating groove, and the output end of the screw drive motor is connected to one end of the bidirectional screw;

[0011] The adjusting plate is fixed in the inner cavity of the rotating groove, and a stabilizing through groove is provided on the adjusting plate, which is parallel to the bidirectional screw. The top of the adjusting rod is respectively set on the first threaded section and the second threaded section of the bidirectional screw by nuts based on thread engagement. The bottom of the adjusting rod passes through the stabilizing through groove and is respectively connected to the clamping plate of the finger structure at the bottom.

[0012] The wrist steering structure includes: a support rod, a rotating plate, a motor for rotating the robot arm, and a wrist telescopic rod;

[0013] The support rod is connected to the position drive structure; a motor slot is provided at the bottom of the support rod, the motor for rotating the robot arm is fixed in the motor slot, the output end of the motor for rotating the robot arm is connected to the bottom of the rotating plate and connected to the support block through a spherical joint, and the bottom of the support block is fixedly connected to the top surface of the rotating block;

[0014] The bottom end of the rotating plate and the top end of the support block are respectively hinged to the two ends of the wrist telescopic rod.

[0015] Its further features are:

[0016] A worm gear section is provided on the bidirectional screw, located between the first threaded section and the second threaded section;

[0017] The clamping structure also includes a secondary screw, which comprises: a third threaded section, a worm gear, and a fourth threaded section arranged sequentially. The third threaded section and the fourth threaded section have the same thread and the same length, but are arranged symmetrically with opposite thread directions. The worm gear and the worm section are meshed together.

[0018] A stabilizing slot is provided on the adjusting plate parallel to the secondary screw;

[0019] The third threaded section and the fourth threaded section are each symmetrically provided with an adjusting rod through thread engagement;

[0020] The bottom of the adjusting rod passes through the stabilizing slot and connects to the clamping plate in the finger structure at the bottom;

[0021] The wrist steering structure also includes a supporting ring plate; a support shaft parallel to the top surface of the rotating plate is provided at the bottom of the support rod, and the ring plate is fitted on the support shaft. The diameter direction of the ring plate is perpendicular and parallel to the output of the robot arm rotation motor; the ring plate abuts against the top surface of the rotating plate and the bottom surface of the support rod respectively; the ring plate is rotatably connected to the bottom end of the support rod, and the ring plate is symmetrically arranged on both sides of the robot arm rotation motor;

[0022] The position driving structure includes: an X-axis driving structure, a Y-axis driving structure, and a Z-axis driving structure;

[0023] The X-axis drive structure includes: an X-axis screw and an X-axis drive motor. The X-axis screw is disposed in an X-axis groove opened in the X-axis direction in the worktable. One end of the X-axis screw is connected to the output end of the X-axis drive motor. An X-axis sleeve is screwed onto the X-axis screw.

[0024] The Z-axis drive structure includes: a Z-axis electric telescopic rod, which is perpendicular to the X-axis screw in the vertical direction and is mounted on the X-axis screw sleeve;

[0025] The Y-axis drive structure includes: a Y-axis screw, a Y-axis drive motor, and a Y-axis transmission plate; the Y-axis transmission plate is fixed to the top of the Z-axis electric telescopic rod; the Y-axis transmission plate is perpendicular to the X-axis screw in the horizontal direction, a Y-axis groove is formed on the bottom surface of the Y-axis transmission plate, the Y-axis screw is disposed in the Y-axis groove, the Y-axis drive motor is fixed to the Y-axis transmission plate, and the output end of the Y-axis drive motor is connected to one end of the Y-axis screw;

[0026] A Y-axis threaded sleeve is screwed onto the Y-axis screw, and the support rod is fixedly connected to the bottom end face of the Y-axis threaded sleeve;

[0027] The soldering gun and the electric desoldering device are respectively mounted on the clamping plate via an electric telescopic rod;

[0028] Stable support legs are fixedly connected to the four corners of the bottom of the workbench;

[0029] The bottom of the stabilizing support leg is equipped with a stabilizing caster, and the top of the workbench is fixedly connected with a push handle;

[0030] The top of the workbench is equipped with an anti-slip layer.

[0031] This invention provides a device for disassembling and soldering data storage chips for driving recorders. A position drive structure moves a robotic arm between a disassembly station and an installation station, and the robotic arm moves during the chip disassembly and installation process. A screw-driven motor in the robotic arm drives paired clamping plates in the finger structure to perform clamping and releasing actions. The rotation of the robotic arm, driven by a motor, adjusts the angle of the clamping structure and the wrist extension rod, ensuring that the delicate movements of chip disassembly and installation at both stations can be performed. Based on this device, the disassembly and soldering of data storage chips for driving recorders can be completed quickly and accurately, with high efficiency and low error rate. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the overall structure of the vehicle recorder data storage chip disassembly and welding device in this application;

[0033] Figure 2 for Figure 1 A schematic diagram showing the rear structure with point A in the middle.

[0034] Figure 3 This is a schematic diagram of the adjustment plate.

[0035] Figure 4 This is a schematic diagram of the X-axis drive structure;

[0036] Figure 5 This is a schematic diagram of the auxiliary screw structure;

[0037] Figure 6 This is a schematic diagram showing the positional relationship between the secondary screw and the bidirectional screw. Detailed Implementation

[0038] like Figure 1As shown, the present invention includes a device for disassembling and soldering a data storage chip for a driving recorder, comprising: a position driving structure, a robotic arm, a soldering gun 34, an electric desoldering pump 21, and a worktable 1; a disassembly station 101 and an installation station 102 are provided on the horizontally arranged worktable 1, the driving recorder with the chip to be disassembled is placed on the disassembly station 101, and the driving recorder with the chip to be installed is placed on the installation station; the soldering gun 34 and the electric desoldering pump 21 are mounted on the robotic arm, which is positioned above the worktable 1. Driven by the position driving structure, the robotic arm completes the positional movement of the soldering gun 34 and the electric desoldering pump 21 during the chip disassembly and installation process, and completes the positional movement of the robotic arm between the disassembly station 101 and the installation station 102.

[0039] like Figure 2 As shown, the robotic hand includes: a finger structure, a gripping structure, and a wrist steering structure. The finger structure is disposed on the gripping structure, and the gripping structure is mounted on the wrist steering structure.

[0040] The finger structure includes: a pair of clamping plates 20, with symmetrical anti-slip layers 27 on adjacent sidewalls at the bottom of each clamping plate 20 to ensure stable clamping of the chip; and a soldering gun 34 and a hot desoldering pump 21 on the other sidewall. Specifically, both the soldering gun 34 and the hot desoldering pump 21 can be mounted on the clamping plates 20 via an electric telescopic rod 33; for example... Figure 1 As shown, the electric telescopic rod 33 is fixed to the clamping plate 20, and the soldering gun 34 is fixed to the telescopic end of the electric telescopic rod 33. The position of the soldering gun 34 changes by changing the length of the electric telescopic rod 33. At the same time, by designing the lengths of the soldering gun 34, the electric desoldering pump 21, and the clamping plate 20, the electric telescopic rod 33 ensures that the soldering gun 34 and the electric desoldering pump 21 extend beyond the bottom end of the clamping plate 20 when working, and are flush with the bottom end of the clamping plate 20 when not working. This avoids damage to the chip when the clamping plate 20 picks up and puts in the chip, thus improving the practicality of the technical solution of this application.

[0041] The clamping structure includes: a rotating block 32, a bidirectional screw 16, an adjusting plate 18, an adjusting rod 19, and a screw drive motor 15;

[0042] The bidirectional screw 16 includes: a first threaded section 1601 and a second threaded section 1602 provided on the rod body; the first threaded section 1601 and the second threaded section 1602 have the same thread and the same length, but are symmetrically arranged with opposite thread directions; the first threaded section 1601 and the second threaded section 1602 have different thread directions, so that the clamping plates 20 on both sides can move towards or away from each other when the bidirectional screw 16 rotates.

[0043] The rotating block 32 has a downward-facing rotating groove 24 at its bottom, and a bidirectional screw 16 is horizontally and rotatably disposed in the rotating groove 24. The screw drive motor 15 is fixed to the outside of the rotating groove 24, and the output end of the screw drive motor 15 is connected to one end of the bidirectional screw 16. The rotating groove 24 in the rotating block 32 is a barrel-shaped groove with a round cross-section, and the diameter of the adjusting plate 18 is adapted to the diameter of the cross-section of the inner cavity of the rotating groove 24. Figure 2 and Figure 5 The rotating block 32, rotating groove 24 and adjusting plate 18 are shown in a cross-sectional view along the direction of the bidirectional screw 16.

[0044] The adjusting plate 18 is fixed in the inner cavity of the rotating groove 24. The adjusting plate 18 is provided with a stabilizing through groove 1801, which is parallel to the bidirectional screw 16. The top of the adjusting rod 19 is respectively set on the first threaded section 1601 and the second threaded section 1602 of the bidirectional screw 16 by the nut 22 based on the thread engagement. The bottom of the adjusting rod 19 passes through the stabilizing through groove 1801 and is connected to the clamping plate 20 of the finger structure at the bottom.

[0045] The solder joints around the chip on the driving recorder to be removed are melted by heating the desoldering pump 21. Then, the screw drive motor 15 is started, driving the bidirectional screw 16 to rotate. The two nuts 22 drive the clamping plate 20 to move along the stabilizing slot 1801 towards the center position until the clamping plate 20 clamps the chip to be removed, allowing the chip to be taken out. The screw drive motor 15 rotates in the opposite direction, causing the two nuts 22 to drive the clamping plate 20 along the stabilizing slot 1801 towards the center position, allowing the clamping plate 20 to release the chip to be removed.

[0046] Depending on the size or shape of the chip, four clamping plates 20 can be set up, dividing the four clamping plates 20 into two groups. In the clamping structure, a secondary screw 17 is added; one group is driven by a bidirectional screw 16, and the other group is driven by the secondary screw 17.

[0047] In specific implementation, such as Figure 5 and Figure 6 As shown, a worm section 1603 is provided on the bidirectional screw 16, located between the first threaded section 1601 and the second threaded section 1602.

[0048] The auxiliary screw 17 includes: a third threaded section 1701, a worm gear 1703, and a fourth threaded section 1702 arranged in sequence. The third threaded section 1701 and the fourth threaded section 1702 have the same thread and the same length, but are arranged symmetrically with opposite thread directions. The worm gear 1703 and the worm section 1603 are meshed together.

[0049] like Figure 3As shown, a second stabilizing groove 1802 is arranged parallel to the auxiliary screw 17 on the adjusting plate 18; an adjusting rod 19 is symmetrically arranged on the third threaded section 1701 and the fourth threaded section 1702 respectively through threaded engagement; the bottom of the adjusting rod 19 passes through the second stabilizing groove 1802 and connects to the clamping plate 20 in the finger structure at the bottom. The second stabilizing groove 1802 and the stabilizing groove 1801 are perpendicular to each other.

[0050] The screw drive motor 15 starts, driving the bidirectional screw 16 to rotate. The two nuts 22 drive the clamping plate 20 to move along the stabilizing through groove 1801 towards the center position. At the same time, the worm section 1603 drives the worm wheel 1703 to rotate, and the auxiliary screw 17 rotates. Through the third thread section 1701 and the fourth thread section 1702, the clamping plate 20 in the other set of finger structures also moves towards the center of the second stabilizing through groove 1802. This allows the clamping plates 20 in the two sets of finger structures to clamp the chip to be removed from four directions simultaneously, achieving more stable clamping. Figure 5 In the middle section, the adjusting rod 19 and the clamping plate 20 driven by the auxiliary screw 17 are omitted.

[0051] like Figure 2 As shown, the wrist steering structure includes: a support rod 10, a rotating plate 12, a motor 11 for rotating the robot arm, and a wrist telescopic rod 14.

[0052] The support rod 10 is connected to the position drive structure; a motor slot is provided at the bottom of the support rod 10, and the motor 11 for rotating the robot arm is fixed in the motor slot. The output end of the motor 11 for rotating the robot arm is connected to the bottom of the rotating plate 12 and connected to the support block 31 through the spherical joint 13. The bottom of the support block 31 is fixedly connected to the top surface of the rotating block 32.

[0053] The bottom end of the rotating plate 12 and the top end of the support block 31 are respectively hinged to the two ends of the wrist telescopic rod 14.

[0054] The wrist steering structure also includes a support ring plate 25; a support shaft 23 parallel to the top surface of the rotating plate 12 is provided at the bottom of the support rod 10, and the ring plate 25 is fitted on the support shaft 23. The diameter direction of the ring plate 25 is perpendicular and parallel to the output of the robot arm rotation motor 11; the ring plate 25 presses against the top surface of the rotating plate 12 and the bottom surface of the support rod 10 respectively.

[0055] The annular plate 25 is rotatably connected to the bottom end of the support rod 10, and the annular plate 25 is symmetrically arranged on both sides of the robot arm rotation motor 11.

[0056] The rotating plate 12 and the support block 31 are connected by a spherical joint 13 and a wrist telescopic rod 14. The bottom of the support block 31 is fixedly connected to the top surface of the rotating block 32. When the robot arm rotation motor 11 is started, the output end of the motor drives the rotating plate 12 to rotate. The rotating block 32 rotates along with the finger structure below, completing the angle adjustment of the finger structure with the output end of the robot arm rotation motor 11 as the center, ensuring that the soldering gun 34 and the electric desoldering pump 21 can complete the angle adjustment during operation. When the rotating plate 12 rotates with the output end of the robot arm rotation motor 11, the rotating plate 12 and the bottom surface of the support rod 10 move relative to each other. The annular plate 25 presses against the top surface of the rotating plate 12 and the bottom surface of the support rod 10 respectively. Due to friction, the annular plate 25 rotates around the support shaft 23, ensuring that the rotation of the rotating plate 12 is a stable movement, thereby ensuring that the angle adjustment of the soldering gun 34 and the electric desoldering pump 21 on the finger structure is stable during operation, thus improving the stability of chip disassembly and installation operations.

[0057] In specific implementation, the wrist telescopic rod 14 is based on the existing electric telescopic rod. The wrist telescopic rods 14 are arranged in pairs, with at least one pair installed symmetrically around the spherical joint 13. In each pair, if one of the wrist telescopic rods 14 is activated, extending or shortening, while the other remains unchanged, the angle between the opposing end faces of the rotating plate 12 and the support block 31 will change. This, in turn, changes the angle between the clamping plate 20 in the finger structure driven by the rotating block 32 and the horizontal plane, enabling the soldering gun 34 and the electric desoldering pump 21 to operate at different angles, ensuring that the technical solution of this application can be applied to various application scenarios. Because of the spherical joint 13, the angle between the rotating plate 12 and the support block 31 can be stably adjusted, ensuring stable operation of the soldering gun 34 and the electric desoldering pump 21 on the finger structure, further improving the stability of chip disassembly and installation operations. When two sets of wrist telescopic rods 14 are provided, even more angle adjustments can be achieved.

[0058] The technical solution of this application achieves fine angle adjustments of the finger structure during disassembly, installation, and gripping operations through the robotic arm rotation motor 11 and wrist telescopic rod 14 in the wrist steering structure. Large-scale position adjustments of the robotic arm in the X, Y, and Z axis directions are accomplished through a position drive structure.

[0059] The position drive structure includes an X-axis drive structure, a Y-axis drive structure, and a Z-axis drive structure, which can be implemented using existing position drive structures.

[0060] In this embodiment, the X-axis drive structure includes: an X-axis screw 3 and an X-axis drive motor 2. The X-axis screw 3 is disposed in an X-axis groove 1-1 opened in the X-axis direction in the worktable 1. One end of the X-axis screw 3 is connected to the output end of the X-axis drive motor 2. An X-axis screw sleeve 4 is screwed onto the X-axis screw 3.

[0061] The Z-axis drive structure includes: a Z-axis electric telescopic rod 5, which is perpendicular to the X-axis screw 3 in the vertical direction and is mounted on the X-axis screw sleeve 4.

[0062] The Y-axis drive structure includes: a Y-axis screw 8, a Y-axis drive motor 7, and a Y-axis transmission plate 6. The Y-axis transmission plate 6 is fixed to the top of the Z-axis electric telescopic rod 5. The Y-axis transmission plate 6 is perpendicular to the X-axis screw 3 in the horizontal direction. A Y-axis groove 6-1 is formed on the bottom surface of the Y-axis transmission plate 6, and the Y-axis screw 8 is set in the Y-axis groove 6-1. The Y-axis drive motor 7 is fixed to the Y-axis transmission plate 6, and the output end of the Y-axis drive motor 7 is connected to one end of the Y-axis screw 8. A Y-axis threaded sleeve 9 is screwed onto the Y-axis screw 8, and a support rod 10 is fixedly connected to the bottom surface of the Y-axis threaded sleeve 9.

[0063] The X-axis drive motor 2 starts, driving the X-axis screw 3 to rotate. The X-axis screw sleeve 4 moves along the X-axis groove 1-1, driving the Z-axis electric telescopic rod 5 to move along the X-axis groove 1-1, realizing the displacement of the robot hand in the X-axis direction. The Z-axis electric telescopic rod 5 starts, driving the Y-axis transmission plate 6 to move in the Z-axis direction, realizing the displacement of the robot hand in the Z-axis direction. The Y-axis drive motor 7 starts, driving the Y-axis screw 8 to rotate. The Y-axis screw sleeve 9 moves along the Y-axis groove 6-1, realizing the displacement of the robot hand in the Y-axis direction.

[0064] When disassembling and installing chips on a driving recorder using the disassembly and welding device of this application, the driving recorder is first placed on the worktable 1. Then, the robot arm, welding gun 34, and hot desoldering pump 21 are moved together above the driving recorder through the X-axis, Y-axis, and Z-axis drive structures in the position drive structure. The hot desoldering pump 21 removes solder joints from the chip, and the chip is picked up and placed using two relatively positioned clamping plates 20. The welding gun 34 then welds the chip to a designated position on the driving recorder. Simultaneously, because the chip installation angle on the driving recorder is relatively complex, the robot arm's rotation is adjusted using the motor 11 and the wrist extension rod 14 to ensure accurate chip disassembly and installation. In practice, the entire process can also be automatically controlled using existing microcontrollers based on programming and PLC technology.

[0065] The top of the workbench 1 is equipped with an anti-slip layer 28 to prevent items on the workbench 1 from slipping. Stable legs 26 are fixedly connected to the four corners of the bottom of the workbench 1; stable casters 29 are installed at the bottom of the stable legs 26, and a push handle 30 is fixedly connected to the top of the workbench 1. The stable casters 29 and the push handle 30 ensure that the entire disassembly and welding device of this application can be moved, thus ensuring the practicality of the technical solution of this application.

[0066] The device described in this application has a simple structure, low cost, and is suitable for various scenarios. Using the technical solution described in this application avoids the problem of high technical requirements for manual chip disassembly and soldering. This device greatly reduces the professional technical requirements for operators and is more suitable for technicians conducting on-site investigations of traffic accidents.

Claims

1. A tachograph data storage chip dismounting and welding device, characterized in that, It includes: Position driving structure, machine hand, welding gun, electric heating soldering iron and workbench; The traveling data recorder to be disassembled and the traveling data recorder to be installed are respectively placed on the horizontally arranged workbench, the welding gun and the electric heating soldering iron are installed on the machine hand, the machine hand is arranged above the workbench, and the position movement of the welding gun and the electric heating soldering iron in the disassembly and installation process is completed under the driving of the position driving structure, and the position movement of the machine hand between the disassembly station and the installation station is completed. The machine hand comprises a finger structure, a clamping structure and a wrist turning structure, the finger structure is arranged on the clamping structure, and the clamping structure is arranged on the wrist turning structure. The finger structure comprises a pair of clamping plates, symmetrical anti-skid layers are arranged on the adjacent side walls of the bottom of the two clamping plates respectively, and the welding gun and the electric heating soldering iron are arranged on the other side walls respectively. The clamping structure comprises a rotating block, a bidirectional screw rod, an adjusting plate, an adjusting rod and a screw rod driving motor. The bidirectional screw rod comprises a first threaded segment and a second threaded segment arranged on the rod body; the first threaded segment and the second threaded segment are symmetrically arranged with the same thread and the same length, but the thread directions are opposite. The bottom of the rotating block is provided with a rotating groove opening downward, and the bidirectional screw rod is horizontally and rotatably arranged in the rotating groove; the screw rod driving motor is fixed outside the rotating groove, and an output end of the screw rod driving motor is connected to one end of the bidirectional screw rod. The adjusting plate is fixed in the inner cavity of the rotating groove, a stable through groove is arranged on the adjusting plate, and the stable through groove is parallel to the bidirectional screw rod; the adjusting rod is arranged on the first threaded segment and the second threaded segment of the bidirectional screw rod through thread engagement of a nut at the top of the adjusting rod; the bottom of the adjusting rod passes through the stable through groove and is connected to the clamping plates of the finger structure at the bottom respectively. The wrist turning structure comprises a supporting rod, a rotating plate, a machine hand rotating motor and a wrist telescopic rod. The supporting rod is connected to the position driving structure; the bottom of the supporting rod is provided with a motor groove, the machine hand rotating motor is fixed in the motor groove, an output end of the machine hand rotating motor is connected to the bottom of the rotating plate through a spherical pair connecting supporting block, and the bottom of the supporting block is fixedly connected to the top end surface of the rotating block. The bottom end surface of the rotating plate and the top end of the supporting block are respectively hinged to the two ends of the wrist telescopic rod.

2. The device according to claim 1, characterized in that: A worm segment is arranged between the first threaded segment and the second threaded segment of the bidirectional screw rod.

3. The device according to claim 2, characterized in that: The clamping structure further comprises a secondary screw rod, the secondary screw rod comprises a third threaded segment, a worm gear and a fourth threaded segment arranged in sequence, the third threaded segment and the fourth threaded segment are symmetrically arranged with the same thread and the same length, but the thread directions are opposite; the worm gear is meshingly connected with the worm segment; A stable through groove is arranged on the adjusting plate in parallel with the secondary screw rod; The third threaded segment and the fourth threaded segment are symmetrically arranged with one adjusting rod through thread engagement respectively. The adjusting rod bottom passes through the stable through slot and is connected to the clamping plate in the finger structure at the bottom.

4. The device according to claim 1, characterized in that: The wrist turning structure further comprises a supporting ring plate; a supporting shaft is arranged at the bottom of the supporting rod and parallel to the top surface of the turning plate, the supporting ring plate is sleeved on the supporting shaft, the diameter direction of the supporting ring plate is perpendicular to the output of the motor for rotating the robot hand, the supporting ring plate abuts against the top surface of the turning plate and the bottom end surface of the supporting rod respectively, the supporting ring plate is rotationally connected to the bottom end of the supporting rod, and the supporting ring plate is symmetrically arranged on both sides of the motor for rotating the robot hand.

5. The device according to claim 1, characterized in that: The position driving structure comprises an X-axis driving structure, a Y-axis driving structure and a Z-axis driving structure. The X-axis driving structure comprises an X-axis screw rod, an X-axis driving motor, the X-axis screw rod is arranged in an X-axis groove arranged in the X-axis direction of the workbench, and one end of the X-axis screw rod is connected to the output end of the X-axis driving motor; an X-axis nut is screwed on the X-axis screw rod; The Z-axis driving structure comprises a Z-axis electric telescopic rod, the Z-axis electric telescopic rod is arranged on the X-axis nut and perpendicular to the X-axis screw rod in the vertical direction; The Y-axis driving structure comprises a Y-axis screw rod, a Y-axis driving motor and a Y-axis transmission plate, the Y-axis transmission plate is fixed to the top end of the Z-axis electric telescopic rod, the Y-axis transmission plate is perpendicular to the X-axis screw rod in the horizontal direction, a Y-axis groove is arranged in the bottom end surface of the Y-axis transmission plate, the Y-axis screw rod is arranged in the Y-axis groove, the Y-axis driving motor is fixed to the Y-axis transmission plate, and the output end of the Y-axis driving motor is connected to one end of the Y-axis screw rod; A Y-axis nut is screwed on the Y-axis screw rod, and the bottom end surface of the Y-axis nut is fixedly connected to the supporting rod.

6. The device according to claim 1, characterized in that: The welding gun and the electric heating tin suction device are respectively arranged on the clamping plate through electric telescopic rods.

7. The device according to claim 1, characterized in that: Stable supporting legs are fixedly connected to the bottom end of the workbench.

8. The device according to claim 7, characterized in that: Stable casters are mounted at the bottom end of the stable supporting legs, a pushing handle is fixedly connected to the top end of the workbench.

9. The device according to claim 1, characterized in that: An anti-skid layer is mounted at the top end of the workbench.

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