An insulation terminal and pin welding device and process

Abstract

The present application relates to the field of welding assembly of insulating terminal and metal pin, and particularly relates to a welding device and process of insulating terminal and pin. The welding device comprises a base, a mechanical hand arranged on the base, an insulating terminal feeding module, a metal pin feeding module, a metal pin box arranged below the initial end of the metal pin feeding module, a welding module arranged at the terminal end of the metal pin feeding module, a finished product conveying belt and a control module. The insulating terminal feeding module, the welding module and the finished product conveying belt are arranged around the mechanical hand. The present application discloses a welding device and a process using the device, realizes automatic alignment and automatic welding of the insulating terminal and the metal pin, solves the problems of slow efficiency and unstable welding quality in the prior art, and greatly improves the production rhythm and product quality.

Description

Technical Field

[0001] This invention relates to the field of welding and assembling insulating terminals and metal pins, and more specifically to a welding apparatus and process for insulating terminals and pins. Background Technology

[0002] Figure 1 A novel metal package for semiconductor light sources is demonstrated, which allows for an increase in the number of input / output terminals without increasing the overall size. This aligns with the trend towards miniaturization of semiconductor components while improving the performance of the semiconductor light source.

[0003] Figures 2-3 This exhibit showcases the insulating terminals of this novel metal-encapsulated housing, which are formed by stacking and firing four specially made ceramic sheets of equal thickness. From top to bottom, these are named the first, second, third, and fourth insulating layers. Before firing, multiple metal layers are formed on the upper surface of the second insulating layer and the upper and lower surfaces of the third insulating layer using methods such as screen printing, vapor deposition, and sputtering to connect the inside and outside. The spacing between adjacent metal layers is equal. Notably, the projections of the metal layers on the upper surfaces of the second and third insulating layers are offset in a top view; that is, the metal layers on the upper surfaces of the second and third insulating layers are not on the same vertical plane. Finally, metal leads are soldered onto the metal layers to form input / output terminals.

[0004] Currently, there is no dedicated equipment for welding the metal pins to the metal layer of this type of insulating terminal; it can only be done manually, which is inefficient, results in inconsistent quality, and is not conducive to large-scale production. Summary of the Invention

[0005] This invention provides a welding apparatus and process for insulating terminals and pins, with the aim of automating the welding of metal pins to metal layers, thereby solving the problems of slow efficiency and unstable welding quality in the prior art.

[0006] To achieve the above objectives, the technical solution of the present invention is as follows:

[0007] This invention provides a welding device for insulating terminals and leads, comprising a base and a robotic arm, an insulating terminal feeding module, a metal lead feeding module, a metal lead box located below the beginning of the metal lead feeding module, a welding module located at the end of the metal lead feeding module, a finished product conveyor belt, and a control module mounted on the base. The insulating terminal feeding module, the welding module, and the finished product conveyor belt are arranged around the robotic arm. The control module is connected to the robotic arm, the insulating terminal feeding module, the metal lead feeding module, the welding module, and the finished product conveyor belt.

[0008] Furthermore, the insulating terminal feeding module includes a positioning bracket, an inclined plate tilted on the positioning bracket, and an "L"-shaped baffle along the edge of the inclined plate, with the angle of the "L"-shaped baffle located at the lowest point of the inclined plate. The inclined plate is rectangular, with its four vertices located on different horizontal planes. The angle between the line connecting the lowest and highest vertices of the inclined plate and the horizontal plane ranges from 15° to 30°.

[0009] Furthermore, the metal pin feeding module includes a feeding conveyor belt, a metal pin recycling groove, a left positioning unit, and a right positioning unit, wherein the width of the feeding conveyor belt is less than the length of the metal pin.

[0010] Furthermore, the outer surface of the feeding conveyor belt is provided with a plurality of metal pin positioning grooves that match the metal pins. The depth of the metal pin positioning grooves is equal to the diameter of the metal pins, and the distance between two adjacent metal pin positioning grooves is equal to the distance between two adjacent metal layers on the same horizontal plane of the insulating terminal.

[0011] Furthermore, the welding module includes a welding shell and a U-shaped welding robotic arm. The welding shell includes a side wall with a sliding groove and a roof. The welding robotic arm is slidably mounted within the sliding groove. The roof is equipped with a limit cylinder, and the piston rod of the limit cylinder has a pressure plate at its end. The thickness of the pressure plate is less than half the thickness of the insulation layer of the insulating terminal. The welding robotic arm includes a connecting rod extending vertically. An upper crossbeam is vertically mounted at the top of the connecting rod, and a lower crossbeam is vertically mounted at the bottom of the connecting rod. A laser generator and an upper laser welding device are mounted at the end of the upper crossbeam, and a laser receiver matched with the laser generator and a lower laser welding device corresponding to the position of the upper laser welding device are mounted at the end of the lower crossbeam.

[0012] Furthermore, the control module includes a control chip, a pin delivery button, a welding rhythm button, and several input buttons.

[0013] A soldering process for insulating terminals and pins includes the following steps:

[0014] Step 1: Metal pin filling and positioning. The operator inserts the metal pins into the metal pin positioning slots until all the metal pin positioning slots on the upper surface of the feeding conveyor belt are filled with metal pins.

[0015] Step 2: Positioning the insulating terminal. Place the insulating terminal, which has been coated with solder paste on the metal layer in the previous step, onto the inclined plate, ensuring that the end to be soldered to the metal pin faces outward. The insulating terminal slides downward at an angle under the action of gravity, and finally stops at the corner of the "L"-shaped baffle, completing the positioning of the insulating terminal.

[0016] Step 3: Press the welding rhythm button, and the following welding actions will be performed automatically;

[0017] Step 4: Grab the insulating terminal. The robotic arm grabs the insulating terminal according to the size information of the insulating terminal feeding module and the size information of the insulating terminal stored in the control module, and moves the insulating terminal between the welding robotic arms.

[0018] Step 5: Assemble and weld the insulating terminals and metal pins. Position the metal pins and use the robotic arm to move the insulating terminals to the corresponding positions. Sequentially complete the welding of the metal layers on the upper surface of the second insulating layer, the upper surface of the third insulating layer, and the lower surface of the third insulating layer to the metal pins.

[0019] Step 6: Convey the finished product. The robotic arm moves the welded insulating terminals onto the finished product conveyor belt, which then travels a certain distance before returning to its initial position.

[0020] Step 7: Repeat steps 1 through 6 until the work stops.

[0021] Furthermore, the specific steps for filling and positioning the metal pins include:

[0022] Step 1: Metal pin loading. The area of ​​the feeding conveyor belt closest to the operator is called the operable area. The operator picks up some metal pins from the metal pin box and places them on the operable area. Then, the operator uses a tool to spread out these metal pins so that they are embedded in the metal pin positioning groove.

[0023] Step 2: Fill in the metal pins. Fill the empty metal pin positioning slots in the operable area with metal pins so that all the metal pin positioning slots in the operable area are filled with metal pins.

[0024] Step 3: Metal pin positioning. The operator presses the pin delivery button, and the feeding conveyor belt moves forward a certain distance, moving the section of the feeding conveyor belt filled with metal pins between the left and right positioning units, clearing the operable area; the pin delivery button is released, the feeding conveyor belt stops running, and the left and right positioning units begin positioning, aligning the left and right ends of the metal pins and extending the right end of the metal pins out of the feeding conveyor belt and suspending them in the air, and the left and right positioning units reset.

[0025] Step 4: After the metal pins are filled, repeat steps 1 to 3 until all the metal pin positioning slots on the upper surface of the feeding conveyor belt are filled with metal pins.

[0026] Furthermore, the assembly and welding of the insulating terminal and the metal pin specifically includes the following steps:

[0027] Step 1: Initial metal pin positioning. The pressure plate falls and presses down on the metal pin. The welding robot arm positions a metal pin that is pressed down by the pressure plate and names it the initial metal pin. At the same time, the control module obtains the position information of the initial metal pin and uses it as a reference to infer the position information of other metal pins.

[0028] Step 2: Align the metal pins with the metal layers. Based on the position information obtained in Step 1, the robot moves the insulating terminal so that the metal layer on a certain insulating layer of the insulating terminal is in close contact with the metal pin and corresponds one by one, thus meeting the assembly requirements.

[0029] Step 3: Complete one layer of welding. The welding robot arm moves at intervals from the initial metal pin toward the worker, and the corresponding laser welding device works to complete the welding of the metal layer on a certain insulating layer to the metal pin.

[0030] Step 4: The metal layer of the second insulating layer is welded to the metal pin. The upper laser welding device is started and the lower laser welding device is turned off. Steps 1 to 3 are performed. After welding is completed, the pressure plate returns to the initial position, the robot arm drives the insulating terminal to lift and retract, and the feeding conveyor belt moves forward a certain distance.

[0031] Step 5: The metal layer on the upper surface of the third insulating layer is welded to the metal pin. The upper laser welding device is started and the lower laser welding device is turned off. Steps 1 to 3 are performed. After welding is completed, the pressure plate moves upward by a distance less than half the thickness of the insulating layer. The robot arm drives the insulating terminal to retract, the pressure plate returns to the initial position, and the feeding conveyor belt moves forward a certain distance.

[0032] Step 6: The metal layer on the lower surface of the third insulating layer is welded to the metal pin. The upper laser welding device is turned off, and the lower laser welding device is started to perform steps 1 to 3. After welding is completed, the pressure plate moves upward by a distance less than half the thickness of the insulating layer. The robot arm drives the insulating terminal to retract, and the pressure plate returns to the initial position.

[0033] Furthermore, the initial metal pin positioning specifically includes the following steps:

[0034] Step 1: Locate the initial metal pin. The laser generator starts working, and the laser receiver receives the laser and converts the light signal into an electrical signal, which is then transmitted to the control module. The welding robot arm slowly moves from its initial position toward the direction where the worker is located. When the electrical signal weakens, it means that the laser is blocked, and the initial metal pin has been found.

[0035] Step 2: Precisely locate the initial metal pin. The welding robot arm continues to move slowly in the direction of the worker and records the position information and the strength of the electrical signal. Find the position corresponding to the weakest electrical signal. This position is the precise position of the initial metal pin.

[0036] Step 3: Positioning the laser welding device. Based on the position information obtained in Step 2, the welding robot arm moves to position the upper laser welding device directly above the end of the initial metal pin.

[0037] The beneficial effects achieved by this invention are as follows:

[0038] 1) This invention discloses a welding device and a process using the device, which realizes automatic alignment and welding of insulating terminals and metal pins, solves the problems of slow efficiency and unstable welding quality in the prior art, and greatly improves production speed and product quality.

[0039] 2) This invention reduces the experience requirements for workers, so that the entire production process no longer depends on the experience of workers, but is supported by data, realizing the standardization of assembly and welding, which is conducive to large-scale production.

[0040] 3) The welding module of the present invention uses a servo motor as power and a harmonic drive reducer for transmission and deceleration, making the movement of the welding robot arm more stable and precise, and improving the operating accuracy of the whole system.

[0041] 4) This invention uses a combination of an inclined plate and a baffle to position the insulating terminal, ensuring that the robotic arm grips the insulating terminal at the designated position, guaranteeing the accuracy of the gripping position, and preparing for the subsequent welding of the insulating terminal to the metal pin.

[0042] 5) The feeding conveyor belt of this invention is provided with metal pin positioning grooves, and the spacing between the metal pin positioning grooves is equal to the spacing between the metal layers. After the metal pins are filled onto the feeding conveyor belt, the metal pins can be directly soldered to the insulating terminals. No additional equipment is required to adjust the metal pins, which makes the whole set of equipment simpler and reduces the overall cost. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of an existing metal packaging shell structure for semiconductor light sources.

[0044] Figure 2 This is a 3D diagram of the insulating terminals.

[0045] Figure 3 This is the front view of the insulated terminal.

[0046] Figure 4 This is a schematic diagram of the overall structure of the present invention; in the diagram, the positive x-axis represents the forward direction; the positive y-axis represents the right direction; and the positive z-axis represents the upward direction.

[0047] Figure 5 Schematic diagram of the insulating terminal feeding module.

[0048] Figure 6This is a schematic diagram of the metal pin feeding module.

[0049] Figure 7 This is a magnified view of a portion of the feeding conveyor belt.

[0050] Figure 8 This is a schematic diagram of the welding module structure.

[0051] In the diagram, 1. Insulating terminal; 11a. Second insulating layer; 11b. Third insulating layer; 111. Metal layer; 112. Metal pin; 2. Base; 3. Robotic arm; 4. Insulating terminal feeding module; 41. Positioning bracket; 42. Inclined plate; 43. Baffle; 5. Metal pin feeding module; 51. Feeding conveyor belt; 511. Operable area; 512. Start end; 513. End end; 514. Metal pin positioning groove; 52. Metal pin recycling groove; 53. Left positioning unit; 54. Right positioning unit; 55. Metal pin box; 6. Welding module; 61. Welding shell; 611. Slide chute; 612. Limiting cylinder; 613. Pressure plate; 62. Welding robotic arm; 621. Laser generator; 622. Upper laser welding device; 623. Laser receiver; 624. Lower laser welding device; 7. Finished product conveyor belt. Detailed Implementation

[0052] To facilitate understanding of the present invention by those skilled in the art, specific embodiments of the present invention will be described below with reference to the accompanying drawings.

[0053] This invention provides a welding device for insulating terminals and pins, mainly to cooperate with the corresponding process and solve the problem mentioned in the background art that there is no dedicated equipment for welding and assembling insulating terminals 1 and metal pins 112, so as to realize automatic welding of insulating terminals 1 and metal pins 112, improve welding efficiency, and ensure stable quality.

[0054] like Figure 4 As shown, the welding device includes a base 2 and a robotic arm 3, an insulating terminal feeding module 4, a metal pin feeding module 5, a metal pin box 55 located below the starting end 512 of the metal pin feeding module 5, a welding module 6 located at the ending end 513 of the metal pin feeding module 5, a finished product conveyor belt 7, and a control module mounted on the base 2. The insulating terminal feeding module 4, the welding module 6, and the finished product conveyor belt 7 are arranged around the robotic arm 3. The control module is connected to the robotic arm 3, the insulating terminal feeding module 4, the metal pin feeding module 5, the welding module 6, and the finished product conveyor belt 7.

[0055] The metal pin box 55 is used to hold the metal pins 112. During operation, the operator first picks up the metal pins 112 from the metal pin box 55 and loads them onto the metal pin feeding module 5. Then, the insulating terminal 1, which has been processed in the previous step, is placed into the insulating terminal feeding module 4. After being positioned by the insulating terminal feeding module 4, the insulating terminal 1 is picked up by the robot arm 3. The robot arm 3 then transports the insulating terminal 1 to the welding module 6 for welding. Finally, after welding is completed, the robot arm 3 transports the insulating terminal 1 onto the finished product conveyor belt 7 for transport to the next process.

[0056] The robotic arm 3 is a mature product sourced from the market, mainly comprising a column base 2, a robotic arm, and a gripper. It has four degrees of freedom, enabling it to move up and down around the column base 2, rotate around the column base 2, extend and retract the robotic arm, and rotate the gripper around the robotic arm's axis. The robotic arm 3 is used to grasp and transport the insulating terminal 1, and cooperates with the welding module 6 and other functional structures of this invention to complete the welding assembly of the insulating terminal 1 and the metal pin 112. The initial position of the robotic arm 3 is located near the insulating terminal feeding module 4.

[0057] The insulating terminal feeding module 4 is used to position the insulating terminal 1 and guide the insulating terminal 1 to a suitable position so that the robotic arm 3 can accurately grasp the insulating terminal 1.

[0058] like Figure 5 As shown, the insulating terminal feeding module 4 includes a positioning bracket 41 fixed on the base 2, an inclined plate 42 inclinedly disposed on the positioning bracket 41, and an "L"-shaped baffle 43 disposed along the edge of the inclined plate 42. The angle of the "L"-shaped baffle 43 is disposed at the lowest point of the inclined plate 42. Further, the inclined plate 42 is a rectangular plate, and the four vertices of the inclined plate 42 are located on different horizontal planes. The angle between the line connecting the lowest and highest vertices of the inclined plate 42 and the horizontal plane ranges from 15° to 30°.

[0059] The operator grasps the insulating terminal 1 and places it on the inclined plate 42. Under the action of gravity, the insulating terminal 1 slides downward and laterally until the two adjacent sides of the insulating terminal 1 rest against the two side walls of the baffle 43. In this way, the robotic arm 3 can move to the appropriate position according to the position and size of the inclined plate 42 and the size of the insulating terminal 1, and accurately grasp the insulating terminal 1 at the appropriate position.

[0060] The metal pin feeding module 5 is used to feed metal pins 112 to the welding module 6.

[0061] like Figure 6As shown, the metal pin feeding module 5 includes a feeding conveyor belt 51, a metal pin recovery trough 52, a left positioning unit 53, and a right positioning unit 54. The feeding conveyor belt 51 is mounted on the base 2 and is parallel to the insulating terminal feeding module 4. The starting end 512 of the feeding conveyor belt 51 is positioned above the metal pin box 55, and the ending end 513 of the feeding conveyor belt 51 is positioned within the welding module 6. The metal pin recovery trough 52 is positioned below the feeding conveyor belt 51. The length of the metal pin recovery trough 52 is greater than the length of the feeding conveyor belt 51, and the height of the metal pin recovery trough 52 gradually decreases from the ending end 513 to the starting end 512 of the feeding conveyor belt 51. The metal pin recovery trough 52 is used to recover metal pins 112 that fall from the feeding conveyor belt 51 back into the metal pin box 55.

[0062] Furthermore, in order to allow one end of the metal pin 112 to extend out of the feeding conveyor belt 51 for easy welding to the insulating terminal 1, the width of the feeding conveyor belt 51 is less than the length of the metal pin 112.

[0063] The left positioning unit 53 and the right positioning unit 54 are respectively disposed on the left and right sides of the feeding conveyor belt 51 to position the metal pin 112. After positioning, the two ends of the metal pin 112 on the feeding conveyor belt 51 are aligned, and the right end of each pin extends out of the feeding conveyor belt 51 to facilitate welding with the insulating terminal 1. Each of the left positioning unit 53 and the right positioning unit 54 includes a fixed bracket, a positioning cylinder, and a push plate. The fixed bracket is disposed on the support of the feeding conveyor belt 51, the positioning cylinder is disposed on the fixed bracket, and the push plate is disposed on the piston rod of the positioning cylinder. The piston rods of the left positioning unit 53 and the right positioning unit 54 extend to appropriate lengths, and under the push of the push plate, move the metal pin 112 to the appropriate position, completing the positioning of the metal pin 112 and facilitating subsequent welding work. Initially, the piston rod of the positioning cylinder is fully retracted.

[0064] like Figure 7 As shown, the outer surface of the feeding conveyor belt 51 is provided with a plurality of metal pin positioning grooves 514 that match the metal pins 112. The metal pin positioning grooves 514 include a semi-circular groove at the bottom for fixing the metal pins 112 and a horn-shaped enlarged portion above the semi-circular groove for facilitating the embedding of the metal pins 112 into the semi-circular groove.

[0065] Furthermore, the depth of the metal pin positioning groove 514 is equal to the diameter of the metal pin 112. When the pressing plate 613 is pressed down, the metal pin 112 can be fixed and restricted, preventing it from shaking during welding and affecting the welding quality.

[0066] Furthermore, to facilitate the alignment of the metal layer 111 on the insulating terminal 1 with the metal pin 112, the distance between adjacent two metal pin positioning grooves 514 is equal to the distance between adjacent two metal layers 111 on the same horizontal plane of the insulating terminal 1. In this way, as long as one of the metal layers 111 is aligned with one of the metal pins 112, the others will all be automatically aligned.

[0067] The welding module 6 is used to weld the insulating terminal 1 carried by the manipulator 3 and the metal pin 112 carried by the feeding conveyor belt 51 together, which is the absolute core of the present invention.

[0068] As Figure 8 shown, the welding module 6 includes a welding housing 61 and a "C"-shaped welding robotic arm 62. The welding housing 61 includes side walls and a ceiling. The side walls are provided on the base 2, and the ceiling is provided on the top of the side walls. The side walls and the ceiling form an inverted "L" shape.

[0069] A chute 611 is provided on the side wall, and the welding robotic arm 62 is slidably provided in the chute 611. A limiting air cylinder 612 is provided on the upper edge of the ceiling. A pressing plate 613 is provided at the end 513 of the limiting air cylinder 612. The thickness of the pressing plate 613 is less than half of the thickness of the insulating layer of the insulating terminal 1. The pressing plate 613 can move up and down under the drive of the limiting air cylinder 612, and the pressing plate 613 is used to restrict the metal pin 112 to prevent it from shaking. In the initial state, the piston rod of the limiting air cylinder 612 is fully retracted, and this is the initial position of the pressing plate 613.

[0070] The welding robotic arm 62 includes a connecting rod extending in the vertical direction and a power structure provided on the connecting rod. An upper cross beam is vertically provided at the top end of the connecting rod, and a lower cross beam is vertically provided at the bottom end of the connecting rod.

[0071] The power structure includes a slider, a rack disposed on the outer side wall of the slide groove 611, a power housing, and a servo motor, a harmonic drive reducer, and a power gear disposed within the power housing. The slider is mounted on the connecting rod, mates with and is embedded in the slide groove 611, and can move along the slide groove 611. The output shaft of the servo motor is connected to the input end of the harmonic drive reducer, and the output end of the harmonic drive reducer is connected to the power gear, which meshes with the rack. The servo motor outputs power to drive the welding robotic arm 62 to move back and forth along the slide groove 611.

[0072] A laser generator 621 and an upper laser welding device 622 are provided at the end of the upper crossbeam, and a laser receiver 623 corresponding to the laser generator 621 and a lower laser welding device 624 corresponding to the position of the upper laser welding device 622 are provided at the end of the lower crossbeam. The laser generator 621 emits laser light, and the laser receiver 623 receives the laser light and converts the optical signal into an electrical signal, which is then transmitted to the control module.

[0073] Furthermore, the control module includes a control chip, a pin delivery button, a welding rhythm button, and several input buttons. The control chip is a PLC controller, and it is connected to the pin delivery button, the welding rhythm button, and the input buttons. The control module is the brain of this invention, used to control the production rhythm of the invention.

[0074] A soldering process for insulating terminals and pins includes the following steps:

[0075] Step 1: Metal pin 112 filling and positioning. The operator inserts the metal pin 112 into the metal pin positioning groove 514 until all the metal pin positioning grooves 514 on the upper surface of the feeding conveyor belt 51 are filled with metal pin 112.

[0076] Step 2: Positioning the insulating terminal 1. Place the insulating terminal 1, which has been coated with solder paste on the metal layer 111 in the previous process, onto the inclined plate 42, while ensuring that the end to be soldered to the metal pin 112 faces outward. The insulating terminal 1 slides diagonally downward under the action of gravity, and finally stops at the corner of the "L"-shaped baffle 43, completing the positioning of the insulating terminal 1.

[0077] Step 3: Press the welding rhythm button, and the following welding actions will be performed automatically;

[0078] Step 4: Grab the insulating terminal 1. The robotic arm 3 grabs the insulating terminal 1 according to the size information of the insulating terminal feeding module 4 and the size information of the insulating terminal 1 stored in the control module, and moves the insulating terminal 1 to the welding robotic arm 62.

[0079] Step 5: Assemble and weld the insulating terminal 1 to the metal pin 112, position the metal pin 112, and the robot arm 3 drives the insulating terminal 1 to the corresponding position to complete the welding work of the metal layer 111 on the upper surface of the second insulating layer 11a, the third insulating layer 11b, and the lower surface of the third insulating layer 11b to the metal pin 112 in sequence.

[0080] Step 6: Convey the finished product. The robotic arm 3 transports the welded insulating terminal 1 onto the finished product conveyor belt 7. The finished product conveyor belt 7 travels a certain distance; the robotic arm 3 returns to its initial position.

[0081] Step 7: Repeat steps 1 through 6 until the work stops.

[0082] Furthermore, the specific steps for filling and positioning the metal pin 112 include the following:

[0083] Step 1: Filling metal pins 112. The area of ​​the feeding conveyor belt 51 close to the operator is called the operable area 511. The operator picks up some metal pins 112 from the metal pin box 55 and places them on the operable area 511. Then, the operator uses a tool to spread out these metal pins 112 so that the metal pins 112 are embedded in the metal pin positioning groove 514.

[0084] Step 2: Fill in the metal pins 112. Fill the empty metal pin positioning slots 514 in the operable area 511 with metal pins 112 so that all the metal pin positioning slots 514 in the operable area 511 are filled with metal pins 112.

[0085] Step 3: Positioning of metal pin 112. The operator presses the pin conveyor button, and the feeding conveyor belt 51 moves forward a certain distance, moving the section of the feeding conveyor belt 51 filled with metal pin 112 between the left and right positioning units 54, clearing the operable area 511; the pin conveyor button is released, the feeding conveyor belt 51 stops running, and the left and right positioning units 54 begin positioning, aligning the left and right ends of the metal pin 112 and extending the right end of the metal pin 112 out of the feeding conveyor belt 51 and suspending it in the air, and the left and right positioning units 54 reset.

[0086] Step 4: After the metal pins 112 are filled, repeat steps 1 to 3 until all the metal pin positioning slots 514 on the upper surface of the feeding conveyor belt 51 are filled with metal pins 112.

[0087] Furthermore, the assembly and welding of the insulating terminal 1 and the metal pin 112 specifically includes the following steps:

[0088] Step 1: The initial metal pin 112 is positioned, the pressure plate 613 falls down to press the metal pin 112, the welding robot arm 62 positions a certain metal pin 112 pressed by the pressure plate 613 and names it the initial metal pin 112. At the same time, the control module obtains the position information of the initial metal pin 112 and uses it as a reference to infer the position information of other metal pins 112.

[0089] Step 2: Align the metal pins 112 with the metal layer 111. Based on the position information obtained in Step 1, the robot arm 3 moves the insulating terminal 1 so that the metal layer 111 on a certain insulating layer of the insulating terminal 1 is in close contact with the metal pins 112 and corresponds one-to-one, thus achieving the assembly requirements.

[0090] Step 3: Complete one layer of welding. The welding robot arm 62 moves at intervals from the initial metal pin 112 toward the worker, and the corresponding laser welding device works to complete the welding of the metal layer 111 on a certain insulating layer to the metal pin 112.

[0091] Step 4: The metal layer 111 of the second insulating layer 11a is welded to the metal pin 112. The upper laser welding device 622 is started and the lower laser welding device 624 is turned off. Steps 1 to 3 are performed. After welding is completed, the pressure plate 613 returns to the initial position. The robot arm 3 drives the insulating terminal 1 to lift and retract. The feeding conveyor belt 51 moves forward a distance.

[0092] Step 5: The metal layer 111 on the upper surface of the third insulating layer 11b is welded to the metal pin 112. The upper laser welding device 622 is started and the lower laser welding device 624 is turned off. Steps 1 to 3 are performed. After welding is completed, the pressure plate 613 moves upward by a distance less than half the thickness of the insulating layer. The robot arm 3 drives the insulating terminal 1 to retract. The pressure plate 613 returns to the initial position and the feeding conveyor belt 51 moves forward a certain distance.

[0093] Step 6: The metal layer 111 on the lower surface of the third insulating layer 11b is welded to the metal pin 112. The upper laser welding device 622 is turned off, and the lower laser welding device 624 is started to perform steps 1 to 3. After welding is completed, the pressure plate 613 moves upward by a distance less than half the thickness of the insulating layer. The robot arm 3 drives the insulating terminal 1 to retract, and the pressure plate 613 returns to the initial position.

[0094] Furthermore, the initial positioning of the metal pin 112 specifically includes the following steps:

[0095] Step 1: Locate the initial metal pin 112. The laser generator 621 starts working, and the laser receiver 623 receives the laser and converts the light signal into an electrical signal, which is then transmitted to the control module. The welding robotic arm 62 slowly moves from the initial position toward the direction where the worker is located. When the electrical signal weakens, it means that the laser is blocked, and the initial metal pin 112 has been found.

[0096] Step 2: Precisely locate the initial metal pin 112. The welding robot arm 62 continues to move slowly in the direction of the worker and records the position information and the strength of the electrical signal. Find the position corresponding to the weakest electrical signal. This position is the precise position of the initial metal pin 112.

[0097] Step 3: Positioning of the laser welding device. Based on the position information obtained in Step 2, the welding robot arm 62 moves to position the upper laser welding device 622 directly above the end of the initial metal pin 112.

[0098] The embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A welding device for insulating terminals and pins, characterized in that: It includes a base (2), a manipulator (3) arranged on the base (2), an insulating terminal feeding module (4), a metal pin feeding module (5), a metal pin box (55) arranged below the starting end (512) of the metal pin feeding module (5), a welding module (6) arranged at the end (513) of the metal pin feeding module (5), a finished product conveying conveyor belt (7) and a control module; the insulating terminal feeding module (4), the welding module (6) and the finished product conveying conveyor belt (7) are arranged around the manipulator (3); the control module is respectively connected to the manipulator (3), the insulating terminal feeding module (4), the metal pin feeding module (5), the welding module (6) and the finished product conveying conveyor belt (7); The metal pin feeding module (5) includes a feeding conveyor belt (51), and a plurality of metal pin positioning grooves (514) matching with the metal pins (112) are arranged in parallel on the outer surface of the feeding conveyor belt (51); The welding module (6) includes a welding housing (61) and a "C"-shaped welding robot arm (62); a limiting air cylinder (612) is arranged on the welding housing (61), a pressing plate (613) is arranged at the end of the piston rod of the limiting air cylinder (612), and the pressing plate (613) falls to press the metal pin (112); an upper laser welding device (622) and a lower laser welding device (624) corresponding to the position of the upper laser welding device (622) are arranged on the welding robot arm (62); The upper laser welding device (622) is used to weld the metal layer (111) on the second insulating layer (11a) and the metal layer (111) on the upper surface of the third insulating layer (11b) in the insulating terminal (1) to the metal pin (112); the lower laser welding device (624) is used to weld the metal layer (111) on the lower surface of the third insulating layer (11b) of the insulating terminal (1) to the metal pin (112).

2. The welding device for insulating terminals and pins according to claim 1, characterized in that: The insulating terminal feeding module (4) includes a positioning bracket (41), an inclined plate (42) inclinedly arranged on the positioning bracket (41) and an "L"-shaped baffle (43) arranged along the edge of the inclined plate (42), and the fold angle of the "L"-shaped baffle (43) is arranged at the lowest point of the inclined plate (42).

3. The welding device for insulating terminals and pins according to claim 1, characterized in that: The metal pin feeding module (5) includes a metal pin recovery groove (52), a left positioning unit (53) and a right positioning unit (54), and the width of the feeding conveyor belt (51) is smaller than the length of the metal pin (112).

4. The welding device for insulating terminals and pins according to claim 3, characterized in that: The depth of the metal pin positioning groove (514) is equal to the diameter of the metal pin (112), and the distance between two adjacent metal pin positioning grooves (514) is equal to the distance between two adjacent metal layers (111) on the same horizontal plane of the insulating terminal (1).

5. The welding apparatus for insulating terminals and pins according to claim 1, characterized in that: The welding housing (61) includes a side wall and a roof with a groove (611). The welding robotic arm (62) is slidably disposed in the groove (611). The limiting cylinder (612) is disposed in the roof. The thickness of the pressure plate (613) is less than half the thickness of the insulation layer of the insulating terminal (1). The welding robotic arm (62) includes a connecting rod extending in a vertical direction. An upper crossbeam is vertically disposed at the top of the connecting rod, and a lower crossbeam is vertically disposed at the bottom of the connecting rod. A laser generator (621) is disposed at the end of the upper crossbeam, and a laser receiver (623) matching the laser generator (621) is disposed at the end of the lower crossbeam. An upper laser welding device (622) is disposed at the end of the upper crossbeam, and a lower laser welding device (624) is disposed at the end of the lower crossbeam.

6. The welding apparatus for insulating terminals and pins according to claim 1, characterized in that: The control module includes a control chip, a pin delivery button, a welding rhythm button, and several input buttons.

7. A welding process for insulating terminals and leads, utilizing the welding apparatus according to any one of claims 1 to 6, characterized in that: Includes the following steps: Step 1: Metal pin (112) filling and positioning. The operator inserts the metal pin (112) into the metal pin positioning groove (514) until all the metal pin positioning grooves (514) on the upper surface of the feeding conveyor belt (51) are filled with metal pins (112). Step 2: Positioning the insulating terminal (1): Place the insulating terminal (1) with solder paste applied to the metal layer (111) in the previous step onto the inclined plate (42), while ensuring that the end to be soldered to the metal pin (112) faces outward; the insulating terminal (1) slides diagonally downward under the action of gravity, and finally the insulating terminal (1) stops at the corner of the "L" shaped baffle (43), completing the positioning of the insulating terminal (1); Step 3: Press the welding rhythm button, and the following welding actions will be performed automatically; Step 4: Grab the insulating terminal (1). The robotic arm (3) grabs the insulating terminal (1) according to the size information of the insulating terminal feeding module (4) and the size information of the insulating terminal (1) stored in the control module, and moves the insulating terminal (1) between the welding robotic arms (62). Step 5: Assemble and weld the insulating terminal (1) and the metal pin (112), position the metal pin (112), and the robot (3) drives the insulating terminal (1) to move to the corresponding position to complete the welding work of the metal layer (111) on the upper surface of the second insulating layer (11a), the third insulating layer (11b), and the lower surface of the third insulating layer (11b) and the metal pin (112) in sequence. Step 6: Convey the finished product. The robot (3) moves the welded insulating terminal (1) onto the finished product conveyor belt (7). The finished product conveyor belt (7) runs a certain distance; the robot (3) returns to the initial position. Step 7: Repeat steps 1-6 until the work stops.

8. The welding process between an insulating terminal and a pin according to claim 7, characterized in that: The filling and positioning of the metal pin (112) specifically includes the following steps: Step 1: Metal pin (112) filling. The operator takes some metal pins (112) from the metal pin box (55) and places them on the operable area (511). Then, the operator uses a tool to spread out these metal pins (112) so that the metal pins (112) are embedded in the metal pin positioning groove (514). Step 2: Fill metal pins (112) into the empty metal pin positioning slots (514) in the operable area (511) so that all the metal pin positioning slots (514) in the operable area (511) are filled with metal pins (112). Step 3: Positioning of metal pin (112): The operator presses the pin delivery button, and the feeding conveyor belt (51) moves forward a certain distance, moving the section of the feeding conveyor belt (51) filled with metal pin (112) between the left positioning unit 53 and the right positioning unit 54, leaving the operable area (511) empty; release the pin delivery button, the feeding conveyor belt (51) stops running, the left positioning unit 53 and the right positioning unit 54 start positioning action, so that the left and right ends of the metal pin (112) are aligned and the right end of the metal pin (112) extends out of the feeding conveyor belt (51) and floats in the air, and the left positioning unit 53 and the right positioning unit 54 reset; Step 4: After the metal pins (112) are filled, repeat steps 1 to 3 until all the metal pin positioning slots (514) on the upper surface of the feeding conveyor belt (51) are filled with metal pins (112).

9. The welding process between an insulating terminal and a pin according to claim 7, characterized in that: The assembly and welding of the insulating terminal (1) and the metal pin (112) specifically includes the following steps: Step 1: Initial metal pin (112) positioning. The welding robot arm (62) positions a metal pin (112) pressed by the pressure plate (613) and names it as the initial metal pin (112). At the same time, the control module obtains the position information of the initial metal pin (112) and uses it as a reference to infer the position information of other metal pins (112). Step 2: Align the metal pin (112) with the metal layer (111). The robot (3) moves the insulating terminal (1) according to the position information obtained in Step 1, so that the metal layer (111) on a certain insulating layer of the insulating terminal (1) is in close contact with the metal pin (112) and corresponds one by one, thus achieving the assembly requirements. Step 3: Complete one layer of welding. The welding robot arm (62) moves at intervals from the initial metal pin (112) toward the worker. The corresponding laser welding device works to complete the welding of the metal layer (111) on a certain insulating layer to the metal pin (112). Step 4: The metal layer (111) of the second insulating layer (11a) is welded to the metal pin (112). The upper laser welding device (622) is started and the lower laser welding device (624) is turned off. Steps 1 to 3 are performed. After welding is completed, the pressure plate (613) returns to the initial position. The robot (3) drives the insulating terminal (1) to lift and retract. The feeding conveyor belt (51) moves forward a distance. Step 5: The metal layer (111) on the upper surface of the third insulating layer (11b) is welded to the metal pin (112). The upper laser welding device (622) is started and the lower laser welding device (624) is turned off. Steps 1 to 3 are performed. After welding is completed, the pressure plate (613) moves upward by a distance less than half the thickness of the insulating layer. The robot (3) drives the insulating terminal (1) to retract. The pressure plate (613) returns to the initial position and the feeding conveyor belt (51) moves forward a certain distance. Step 6: The metal layer (111) on the lower surface of the third insulating layer (11b) is welded to the metal pin (112). The upper laser welding device (622) is turned off, and the lower laser welding device (624) is started to perform steps 1 to 3. After welding is completed, the pressure plate (613) moves upward by a distance less than half the thickness of the insulating layer. The robot (3) drives the insulating terminal (1) to retract, and the pressure plate (613) returns to the initial position.

10. The welding process between an insulating terminal and a pin according to claim 9, characterized in that: The initial metal pin (112) positioning specifically includes the following steps: Step 1: Locate the initial metal pin (112), the laser generator (621) works, the laser receiver (623) receives the laser and converts the light signal into an electrical signal and transmits it to the control module, the welding robot arm (62) slowly moves from the initial position toward the direction where the worker is. When the electrical signal weakens, it means that the laser is blocked, that is, the initial metal pin (112) is initially found. Step 2: Precisely locate the initial metal pin (112). The welding robot arm (62) continues to move slowly in the direction of the worker and records the position information and the strength of the electrical signal. Find the position corresponding to the weakest electrical signal. This position is the precise position of the initial metal pin (112). Step 3: Positioning of the laser welding device. Based on the position information obtained in Step 2, the welding robot arm (62) moves to position the upper laser welding device (622) directly above the end of the initial metal pin (112).

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