A tin soldering device and tin soldering process suitable for light load

Abstract

The application provides a tin soldering device and tin soldering process suitable for light load, which comprises a collaborative robot body, the bottom of which is fixed on a mobile control platform through a base, and the end of the mechanical arm is connected with an end tin soldering mechanism through a flange connecting plate; the end tin soldering mechanism comprises a filter screen arranged on the outer end surface of a smoke collecting fairing, the smoke collecting fairing is threadedly connected with a soldering handle, the other end of the soldering handle is connected with an end clamp, a tin feeder is fixed on the end clamp, and a tin wire is hung on the end clamp; the mobile control platform comprises a main frame built by using aluminum profiles, an interface module and a control module arranged on the main frame and used for realizing the automatic tin soldering function. The application successfully applies the small load collaborative robot to the tin soldering operation, can be freely adjusted according to the actual demand, reaches the best welding state, has high reliability, the body occupies small space, and is convenient for the layout and interaction of the automatic production line.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of welding, more particularly to a tin soldering device suitable for light load and a tin soldering process. BACKGROUND

[0002] At present, the automatic tin soldering machine in the industry generally adopts a linear slide table and a general customized controller to build a tin soldering work equipment, which has a simple structure and is easy to operate. However, when the automatic tin soldering machine is used for welding the capacitor module of the super capacitor module in the energy wind power industry, the desktop type automatic tin soldering machine does not have good expansibility in stroke and load capacity, resulting in the need to upgrade new equipment in less than two years, and the gantry floor type tin soldering equipment, like the desktop type controller, is a general customized product, and when new process improvement requirements occur, the process program cannot be verified in real time according to the requirements.

[0003] The tin soldering structure on the traditional tin soldering machine is heavy and the load is not constant, which cannot be directly transplanted to the end of the collaborative robot. If a high-load specification collaborative robot is used, the cost investment is much higher than that of the traditional equipment and does not have practical value. The operation interface of the teaching device matched with the collaborative robot is easy to be accidentally touched and is not suitable for frequent use in the production line. The collaborative robot has not been used in the tin soldering industry, and there is no tin soldering process. Moreover, the program running logic of the collaborative robot in other industries is quite different from that of the traditional tin soldering equipment, and there is no program to learn from. Further, the collaborative robot has not been used in the tin soldering industry, and there is no matching fixed platform and work platform. SUMMARY

[0004] The present application provides a tin soldering device suitable for light load and a tin soldering process to solve the technical problems in the prior art. The present application imitates the traditional tin soldering work equipment and integrates the external function control module, the fixed platform, the work platform and the movable control platform. A tin soldering work program suitable for the collaborative robot is developed, and the control logic needs to be consistent with that of the traditional tin soldering work equipment. The small-load collaborative robot is successfully used for tin soldering work, and the tin soldering process program can be freely adjusted according to the actual requirements to achieve the best welding state. The advantages of the collaborative robot are strong expansion capability, wide effective stroke range, light weight, high reliability, small space occupation, easy layout and interaction with the automatic production line, and low use threshold.

[0005] According to a first aspect of the present application, a tin soldering device suitable for light load is provided, comprising:

[0006] The bottom of the collaborative robot body is connected and fixed to the movable control platform through the base, and the end of the mechanical arm is connected with the end tin soldering mechanism through the flange connection plate.

[0007] The terminal soldering mechanism comprises a smoke collecting and guiding cover, a filter screen, a solder wire, a terminal clamp, a soldering handle and a solder feeder, wherein the filter screen is arranged on the outer end surface of the smoke collecting and guiding cover, the smoke collecting and guiding cover is threadedly connected with the soldering handle, the other end of the soldering handle is connected with the terminal clamp, the solder feeder is fixed on the terminal clamp, and the solder wire is hung on the terminal clamp.

[0008] The mobile control platform comprises a main frame built using aluminum profiles, an interface module and a control module arranged on the main frame and realizing automatic soldering function.

[0009] On the basis of the above technical scheme, the application can also be improved as follows.

[0010] Optionally, the terminal clamp is internally provided with a solder wire hanging column support and a solder feeder fixing plate; the solder feeder is fixed on the solder feeder fixing plate, and the solder wire is hung on the solder wire hanging column support.

[0011] Optionally, the solder wire hanging column support is provided with an open type inclined slot hole, and the inclined slot hole is vertically upward at the opening thereof.

[0012] Optionally, the smoke collecting and guiding cover is provided in an inner buckle type and is in a horn shape for diffusion, and is provided with a recess hole matched therewith; the filter screen is fixed on the smoke collecting and guiding cover through the matched recess hole, and the recess hole has one or more different layer heights and rotation angles.

[0013] Optionally, the terminal clamp is further provided with a terminal flange connecting plate, and one or more mounting holes are reserved on the terminal flange connecting plate and are threadedly connected with the terminal flange mounting holes of the collaborative robot.

[0014] Optionally, the terminal clamp is further provided with a soldering handle fixing plate, and the soldering handle is threadedly connected with the soldering handle fixing plate.

[0015] Optionally, a universal base is mounted on the upper end surface of the mobile platform, and a recess structure perpendicular to each other is adopted at the connection between the universal base and the collaborative robot mechanical arm mounting hole, and the position of a T-shaped nut is adjusted for the installation of different collaborative robots.

[0016] Optionally, a control cabinet for controlling the body of the collaborative robot is arranged in the main frame, the control cabinet adopts a PLC control system, and the mobile control platform performs IO communication with the mechanical arm of the collaborative robot through PLC.

[0017] According to the second aspect of the application, a soldering process is provided, which is applied to the soldering device, and the soldering process soldering procedure is as follows.

[0018] Set the offset of the welding point, calibrate the point difference with the initial program, and the difference is the offset of the welding point;

[0019] Set the preheating tin output, and control the tin output with the preheating time and the tin feeding speed;

[0020] Set the second segment tin output, and control the second segment tin output with the second segment tin output time and the tin feeding speed;

[0021] Set the gun entering point, the preheating tin output point, the soldering tin point, the actual welding point position and the gun retreating point;

[0022] Set the start signal IO, and set the DI1 input as the start signal;

[0023] Set the pause signal IO, and set the DI2 input as the pause program running signal;

[0024] Set the reset signal IO, and set the DI3 input as the signal running to the program origin point;

[0025] Set the cleaning signal IO, and set the DI4 input as the start cleaning function signal;

[0026] Set the cleaning box signal IO, and set the DO5 output as the start cleaning box signal;

[0027] After setting, carry out the tin soldering operation.

[0028] Optionally, the tin soldering program is written in LUA language script, and the script program is sequentially executed logic; the tin soldering program communicates with the PLC through IO, and outputs the function actions in the program.

[0029] The technical effects and advantages of the present application are as follows:

[0030] The present application designs a tin soldering mechanism suitable for a collaborative robot end, which can be applied to a 5kg load specification collaborative robot, and if a lighter tin wire is used, it can also be applied to a 3kg load specification collaborative robot; the structure has small gravity center offset, light overall quality, low tin feeding failure rate, and has smoke aggregation and exhaust capacity. The structure of the tin feeder, the tin hanging column and the soldering iron nozzle is integrated, which reduces the problems of tin pipe blockage and tin wire breakage caused by too long distance and structure rotation.

[0031] A mobile control platform suitable for a soldering collaborative robot is designed, which integrates an external function control module, a robot control platform, a soldering work platform, and reserves appropriate IO interfaces and different specifications of DC power supply interfaces, facilitating the expansion and process optimization in the later stage. The platform is built with aluminum profiles, and the matching positioning tooling has small design difficulty, reasonable and regular fixed mounting hole spacing, can be suitable for the expansion of different positioning tooling, and can also fix multiple positioning work at the same time, meeting the operation needs of different specifications of products. At the same time, the function control module is consistent with the functions of traditional soldering work equipment, does not affect the use of production line operators, and can be directly replaced by the soldering collaborative robot; the platform is mobile and has horizontal adjustment capability, and can also directly replace the gantry online soldering work equipment; the universal fixed base of the platform can meet the installation needs of collaborative robots of different brands; the power module control button of the platform can simulate various scenes required for soldering work debugging; the function control module of the platform redefines the IO signal through PLC, that is, the PLC only defines the IO signal, so the module can also be replaced by any PLC without the need for professional PLC programmers. Of course, by changing the definition of the buttons, the collaborative robot can also be used as a mobile control platform for other industries.

[0032] A soldering program suitable for a collaborative robot is developed using LUA language, which adopts modular programming logic consistent with the control logic of traditional soldering equipment, and only needs simple training of operators to master; the program also has the function of suppressing the jitter phenomenon caused by the eccentricity of the end load, ensuring the stability during operation and improving the operation speed; the program modularly writes the parameters of the process, and only needs to select the appropriate process parameters according to the annotations, and also can add individualized function modules in the program modules reserved in the program. The script language is compatible with multiple brands of collaborative robots. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 A structure schematic diagram of a soldering device suitable for light load is provided for the embodiment of the present application;

[0034] Figure 2 A structure schematic diagram of an end soldering mechanism is provided for the embodiment of the present application;

[0035] Figure 3 A structure schematic diagram of an end clamp is provided for the embodiment of the present application;

[0036] Figure 4 A structure schematic diagram of a mobile control platform is provided for the embodiment of the present application.

[0037] In the figure, 1, collaborative robot body; 2, terminal tin soldering mechanism; 201, smoke collecting and guiding cover; 202, filter screen; 203, tin wire; 204, end clamp; 2041, tin column support; 2042, tin feeder fixing plate; 2043, flange connecting plate; 2044, welding handle fixing plate; 205, welding handle; 206, tin feeder; 3, mobile control platform; 301, main body frame; 302, interface module; 303, control module; 304, universal base; 305, Foma wheel. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0039] The conventional desktop tin soldering machine and gantry tin soldering machine are both general-purpose customized products, that is, the tin soldering process is general, and the specification is customized. The desktop automatic tin soldering machine is suitable for tin soldering operation of small stroke and low load products, and is convenient for man-machine cooperation, but is limited to the degree of iteration change of products and cannot be compatible with the tin soldering operation requirements of various products. The gantry tin soldering machine is suitable for high automation degree and large batch product welding, which is not conducive to man-machine cooperation. The tin soldering process of these two kinds of tin soldering equipment is difficult to update. If there is a new process verification requirement, the verification process is complex and irreversible. Once the verification fails, all the written welding programs need to be rewritten.

[0040] The control program of the collaborative robot is a modular independent control program, which can directly write the bottom process logic. The program has independent bottom process logic between programs, that is, it can be verified at any time and anywhere according to the idea, without worrying about affecting the original use of the equipment. The collaborative robot has strong man-machine cooperation ability and high automation capability, and has the respective advantages of traditional gantry and desktop tin soldering equipment.

[0041] It can be understood that based on the defects in the background art, the embodiments of the present application propose a tin soldering device suitable for light load, as shown in Figure 1 , which comprises a collaborative robot body 1, a terminal tin soldering mechanism 2 and a mobile control platform 3; wherein,

[0042] The collaborative robot body 1 is connected and fixed at the bottom of the mobile control platform 3 through the universal base 304, and the end of the mechanical arm is connected with the terminal tin soldering mechanism 2 through the flange connecting plate 2043;

[0043] Specifically, the collaborative robot is a kind of robot designed to be safe to directly interact / contact with humans. Unlike traditional industrial robots, the collaborative robot expands the attribute of "human" in the connotation of the robot, and is a robot with certain autonomous behavior and collaboration capability, which can cooperate with humans to complete complex actions and tasks in a non-structured environment, and is a real partner of humans. The robot combines the intelligence, dexterity of humans and the physical strength, power and accuracy of machines to complete work such as precision assembly and solve the application limitations of traditional industrial robots. The collaborative robot is a robot with better precision and higher intelligence and can work with humans, which can fully exert the efficiency of the robot and the mobility of humans, and effectively improve the work efficiency. In the embodiment, the collaborative robot can be a six-axis robot with a load of 5 kg or less, which is widely used in the market and applied to teaching and placement of small parts in the injection molding industry, i.e. mature equipment.

[0044] The terminal tin soldering mechanism 2, as shown in Figure 2 , comprises a smoke collecting fairing 201, a filter screen 202, a tin wire 203, a terminal clamp 204, a soldering handle 205 and a tin feeder 206; wherein the filter screen 202 is arranged on the outer end face of the smoke collecting fairing 201, the smoke collecting fairing 201 is threadedly connected with the soldering handle 205, and the other end of the soldering handle 205 is connected with the terminal clamp 204; the terminal clamp 204 is internally provided with a tin hanging column support 2041 and a tin feeder fixing plate 2042; the tin feeder 206 is fixed on the tin feeder fixing plate 2042, and the tin wire 203 is hung on the tin hanging column support 2041.

[0045] Specifically, the smoke collecting fairing 201 is arranged in an inner buckle type and is in a horn shape for diffusion, so that the fairing has the functions of smoke collection and smoke enhancement.

[0046] Specifically, the filter screen 202 is arranged on the upper end of the smoke collecting fairing 201; a recess hole is matched on the smoke collecting fairing 201, the filter screen 202 is installed and fixed on the smoke collecting fairing 201 through the matched recess hole, and the recess hole has one or more different layer heights and rotation angles. Generally, in order to reduce the cost and facilitate the operation, the recess hole is arranged to have one or more different layer heights and rotation angles. The smoke collection capacity is ensured, and the vertical density of the filter screen 202 is also improved.

[0047] The soldering handle 205 is connected with a soldering iron nozzle at the bottom end to realize the effect of tin soldering. A buffer mechanism is arranged in the soldering handle 205, an annular threaded hole is arranged in the buffer mechanism, and the smoke collecting fairing 201 is threadedly connected with the buffer mechanism. The annular threaded hole is convenient for fixing and adjusting the tin feeder nozzle in different directions.

[0048] Reference asFigure 3 As shown, the end clamp 204 includes a tin column hanger 2041, a tin feeder fixing plate 2042, an end flange connecting plate 2043, and a soldering handle fixing plate 2044, the tin column hanger 2041 is provided with an open chute hole, the chute hole is vertically upward at the opening; the tin wire 203 is hung on the end clamp tin column hanger 2041. The tin feeder fixing plate 2042 is threadedly connected with the tin feeder 206, the end flange connecting plate 2043 is provided with a flange mounting hole, the end clamp 204 is threadedly connected with the end flange mounting hole of the collaborative robot through the internally reserved flange mounting hole, so as to complete the fixation of the entire soldering mechanism on the collaborative robot. The soldering handle 205 is threadedly connected with the soldering handle fixing plate 2044.

[0049] The mobile control platform 3, with reference to as Figure 4 As shown, it includes a main frame 301 built with aluminum profiles, an interface module 302 for realizing automatic soldering function and a control module 303 arranged on the main frame 301, a universal base 304 is installed on the upper end face of the main frame 301, a T-shaped slot structure perpendicular to each other is adopted at the connection between the universal base 304 and the mechanical arm mounting hole, and the position of the T-shaped nut is adjusted for the installation of different collaborative robots.

[0050] The tin soldering collaborative robot completes the tin smoke guiding-out function through the end smoke collecting and guiding cover 201, and the existence of the filter screen 202 reduces the cleaning frequency of the smoke extractor. The tin soldering collaborative robot realizes the tin soldering debugging operation under different conditions through the control of the power supply module.

[0051] The bottom end of the mobile platform is also provided with a Foma wheel 305, which can realize the requirements of movement, fixation and horizontal adjustment.

[0052] Specifically, the interface module 302 includes a general electric interface, a mechanical arm power supply interface, and a tin feeder power supply interface.

[0053] The general electric interface is connected with the AC contactor through a cable to supply power to the mobile control platform 3; the on-off of the AC contactor is controlled through the closing and opening of the general electric switch, so as to realize the functions of starting and shutting down the mobile control platform 3.

[0054] The mechanical arm power supply interface is connected with the AC contactor through a cable through the mechanical arm power supply switch, and the starting and shutting down functions of the mechanical arm are realized through the closing and opening of the mechanical arm power supply switch.

[0055] The tin feeder power supply interface is connected with the AC contactor or the DC power supply control module through a cable through the tin feeder power supply switch, and the starting and shutting down functions of the tin feeder 206 are realized through the closing and opening of the tin feeder power supply switch.

[0056] The control module 303 comprises start, stop, reset, tin feeding, cleaning buttons and tin feeding parameter manual adjustment controller; the start, stop, reset, tin feeding, cleaning buttons are connected with the PLC, and the communication function with the mechanical arm is realized through the tin soldering function program written in the PLC.

[0057] The tin feeding parameter manual adjustment controller can directly adjust the tin feeding amount and the tin feeding speed without the soldering program written by the mechanical arm, so that the demand for correcting the tin soldering process without stopping is realized.

[0058] It should be noted that the tin soldering collaborative robot mobile control platform 3, the fixed platform of the collaborative robot body 1, the work platform of the tin soldering work, the external control module of the tin soldering process program, the fixed box of the control cabinet of the collaborative robot body 1, the external control module of the platform realizes the function control of the tin soldering process program through the IO communication with the mechanical arm through the built-in PLC; the power supply of each function module is controlled through the power supply switch control panel, and the tin soldering work debugging in different scenes is simulated.

[0059] In summary, the tin soldering collaborative robot completes the tin soldering work through the mobile control platform 3, the collaborative robot, the end tin soldering mechanism 2 and the tin soldering program. The tin soldering collaborative robot can be expanded with more alarm or auxiliary functions through the reserved IO interface and power supply interface. The compatibility of different specifications or brands of collaborative robots is realized through the aluminum profile and the adapter plate, and the movement, fixation and horizontal adjustment functions of the equipment are realized through the Foma wheel 305.

[0060] According to the second aspect of the present application, a tin soldering process is provided, which is applied to the tin soldering device described above, and the tin soldering program of the tin soldering process is as follows:

[0061] S1. Setting the welding point offset; after replacing the soldering iron tip, the soldering iron tip cannot be guaranteed to be in the original position when being clamped again, so the offset is needed to adjust the welding point position, save the debugging time after replacing the soldering iron tip, and calibrate the point difference with the initial program, and the difference is the offset of the welding point;

[0062] S2. Setting the preheating tin feeding amount; the tin feeding amount is controlled by the preheating time and the tin feeding speed, and the tin feeding in advance can improve the temperature stability in the welding process. In the embodiment, the preheating time is 0.6-1.2s, and the tin feeding speed is 10-16mm / s. The lower tin feeding speed can improve the service life of the soldering iron tip.

[0063] S3. Setting the second section tin feeding amount; the second section tin feeding amount is controlled by the second section tin feeding time and the tin feeding speed. In the embodiment, the tin feeding time is set to 0.6-1.5s, the new tin is supplemented, the tin feeding speed is consistent with S2, the aging of the tin at high temperature is avoided, and the welding stability and the welding point forming quality are improved.

[0064] S4. Set the gun point; in this embodiment, generally set higher than the highest point of the welding plane 20-40mm;

[0065] S5. Set the preheating tin point; in this embodiment, generally set higher than the welding plane 10-15mm;

[0066] S6. Set the soldering tin point, the actual soldering point position;

[0067] S7. Set the retreat point; in this embodiment, the height is generally 20-30mm lower than the gun point height, but cannot be lower than the highest point of the welding plane, and the greater the height difference from the gun point, the better the jitter problem caused by eccentricity of the end soldering structure can be printed.

[0068] S8. Set the start signal IO (start program), set DI1 input as start signal;

[0069] S9. Set the pause signal IO (pause program running), set DI2 input as pause program running signal;

[0070] S10. Set the reset signal IO (return to the program origin, cancel and continue running), set DI3 input as signal running to the program origin;

[0071] S11. Set the cleaning signal IO (start cleaning function), set DI4 input as start cleaning function signal;

[0072] S12. Set the cleaning box signal IO (open the cleaning box), set DO5 output as start cleaning box signal;

[0073] S13. Add the rest of the IO or script program segment according to the needs, set up, and perform the soldering operation.

[0074] In this embodiment, the soldering process program is written in LUA language script, the script language logic is sequential execution logic, each function is written simply, and can be called according to the function rule, and the soldering process program of the device is written in a modular way, so it is not necessary to have too much professional knowledge, and the soldering process program can be adjusted according to the actual needs by redefining the parameters according to the script annotation. The soldering process program communicates with the PLC through IO, and realizes the output of each function action in the program. At the same time, the script can be applied to the use of various brands of collaborative robots.

[0075] Finally, the soldering program has the functions of suppressing jitter, connecting external control signal, point offset, soldering process parameter adjustment, etc. The soldering collaborative robot can maximize the running speed of the device (without jitter) through the reasonable design of the end soldering structure and the jitter suppression function of the soldering program.

[0076] It should be noted that in the present embodiment, we successfully use the small load collaborative robot for soldering operation by the compactness and light weight of the end soldering mechanism 2 of the collaborative soldering robot, and the soldering process program thereof can be freely adjusted according to the actual demand to achieve the best welding state. The advantage lies in that the collaborative robot has strong expansion capability, wide effective stroke range, light weight, high reliability, small space occupation, and is convenient for the layout and interaction of the automatic production line.

[0077] Finally, it should be pointed out that: the above only for the preferred embodiments of the present application, and not for the purpose of limiting the present application, although the foregoing embodiments of the present application are described in detail, for those skilled in the art, it still can be modified to the technical scheme recorded in the foregoing embodiments, or equivalent replacement of some technical features, any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application, should be included in the protection scope of the present application.

Claims

1. A soldering apparatus suitable for light duty, characterized by, include: The collaborative robot body (1) is fixed to the mobile control platform (3) at the bottom via a universal base (304). The end of the robotic arm is connected to an end soldering mechanism (2) via a flange connecting plate (2043). The end soldering mechanism (2) includes: a fume hood (201), a filter screen (202), solder wire (203), an end clamp (204), a welding handle (205), and a solder feeder (206). The filter screen (202) is located on the outer end face of the fume hood (201). The fume hood (201) is threaded to the welding handle (205). The other end of the welding handle (205) is connected to the end clamp (204). The solder feeder (206) is fixed on the end clamp (204). The solder wire (203) is suspended on the end clamp (204). The end clamp (204) is provided with a solder pillar bracket (2041) and a solder feeder fixing plate (2042) inside; the solder feeder (206) is fixed on the solder feeder fixing plate (2042), and the solder wire (203) is suspended on the solder pillar bracket (2041); the solder pillar bracket (2041) is provided with an open inclined slot hole, and the inclined slot hole is at a vertically upward angle at its opening; The mobile control platform (3) includes a main frame (301) constructed using aluminum profiles and an interface module (302) and a control module (303) installed on the main frame (301) to realize automatic soldering function; the main frame (301) is equipped with a control cabinet for controlling the body of the collaborative robot, the control cabinet adopts a PLC control system, and the mobile control platform (3) communicates with the robotic arm of the collaborative robot through the PLC via I / O.

2. A soldering apparatus for light duty as claimed in claim 1 wherein, The smoke collection guide hood (201) is configured as an inward-curving type, with a funnel-shaped diffuser. The smoke collection guide hood (201) is matched with groove holes. The filter screen (202) is fixed on the smoke collection guide hood (201) through the matched groove holes. The groove holes have one or more different layer heights and rotation angles.

3. A soldering apparatus for light duty as claimed in claim 1 wherein, The end clamp (204) is also provided with an end flange connecting plate (2043), and the end flange connecting plate (2043) has one or more mounting holes reserved, which are threadedly connected to the end flange mounting holes of the collaborative robot through the reserved mounting holes.

4. The soldering apparatus for light duty according to claim 1, wherein The end clamp (204) is also provided with a welding handle fixing plate (2044), and the welding handle (205) is threadedly connected to the welding handle fixing plate (2044).

5. The soldering apparatus for light duty according to claim 1, wherein The upper surface of the mobile control platform (3) is equipped with a universal base (304). The connection between the universal base (304) and the mounting hole of the collaborative robot arm adopts a groove structure that is perpendicular to each other. By adjusting the position of the T-nut, it can be used for the installation of different collaborative robots.

6. A soldering process applied to the soldering apparatus according to any one of claims 1 to 5, characterized in that, The soldering process of the aforementioned soldering technology includes: Set the welding point offset and calibrate the point position difference with the initial program. This difference is the welding point offset. Set the preheating solder output amount, and control the solder output amount by preheating time and solder feeding speed; The second section tin output is controlled by the second section tin output time and tin feeding speed. The gun entry point, preheating tin output point, soldering point, actual soldering point position and gun exit point are set. The start signal IO is set and the DI1 input is set as the start signal. The pause signal IO is set and the DI2 input is set as the signal for pausing the program running. The reset signal IO is set and the DI3 input is set as the signal for running to the program origin. The cleaning signal IO is set and the DI4 input is set as the signal for starting the cleaning function. The cleaning box signal IO is set and the DO5 output is set as the signal for starting the cleaning box. After the setting is completed, the soldering operation is performed.

7. The soldering process of claim 6, wherein, The soldering program is written in LUA language script, and the script program is sequentially executed logic. The soldering program communicates with the PLC through IO to output the functions in the program.

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