A quartz flexible accelerometer pendulum group lead automatic welding machine and welding method

Abstract

A quartz flexible accelerometer pendulum piece group lead automatic welding machine and a welding method, relating to the technical field of assembly, comprising a platform, a material conveying module, a manipulator, a pendulum piece group turnover module, a movable welding table and a machine vision spot welding machine module which are arranged on the platform and are all connected with a controller; the pendulum piece group to be welded is supplied by the material conveying module, the pendulum piece group turnover module is used for turning over the pendulum piece to be welded, and the movable welding table is used for moving the pendulum piece to be welded directly below the electric welding position of the machine vision spot welding machine module; the manipulator is used for realizing the transfer of the pendulum piece to be welded between the material conveying module, the movable welding table, the pendulum piece group turnover module, the movable welding table and the material conveying module. The automatic welding of the quartz accelerometer pendulum piece group lead is realized, and the reliability, quality consistency and production efficiency of the pendulum piece group are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to a quartz flexible accelerometer pendulum group lead automatic welding machine and its welding method, belonging to the technical field of assembly. BACKGROUND

[0002] The quartz flexible accelerometer is one of the most important inertial instruments, which is widely used in the fields of inertial navigation such as weapons, transportation and spaceflight. The pendulum group of the quartz flexible accelerometer is the heart of the quartz flexible accelerometer, and is the key component of the sensitive accelerometer information.

[0003] After the pendulum group is assembled and bonded, the coil enameled wire lead needs to be welded with the corresponding pad of the plated pendulum. At present, the lead welding is mainly carried out by manual soldering, which has low consistency, high skill level requirement for the operator and difficult to improve the production efficiency. At the same time, direct soldering on the gold-plated film layer is a forbidden process, which can easily cause the phenomenon of gold brittleness. Moreover, the oily flux used in manual soldering volatilizes and remains in the gap between the coil framework and the pendulum bonding surface at high temperature, which is difficult to observe and remove. When the instrument is subjected to temperature and mechanical environment, the oily flux can volatilize and accumulate on the pendulum plate or the torque plate, causing the pendulum plate and the torque plate to stick together to form an interference torque, resulting in abnormal function of the instrument. In recent years, there have been many quality problems of the excess mass of the welding flux remaining in the pendulum group. Compared with manual soldering, electronic spot welding has high efficiency, simple operation and good welding strength, which can effectively avoid the problem of gold brittleness in manual soldering. Therefore, it has important strategic significance to automate the electronic spot welding and realize the automatic welding of the lead of the quartz flexible accelerometer pendulum group. SUMMARY

[0004] The technical problem solved by the present application is to overcome the shortcomings of the prior art, provide a quartz flexible accelerometer pendulum group lead automatic welding machine and welding method, and realize the automatic welding of the lead of the quartz accelerometer pendulum group, improve the reliability, quality consistency and production efficiency of the pendulum group.

[0005] The technical solution of the present application is:

[0006] A quartz flexible accelerometer pendulum group lead automatic welding machine, comprising a platform, and a material conveying module, a manipulator, a pendulum group overturning module, a movable welding table and a machine vision spot welding machine module arranged on the platform and connected with the controller,

[0007] The pendulum group to be welded is supplied by the material conveying module, the pendulum group overturning module is used for overturning the pendulum to be welded, and the movable welding table is used for moving the pendulum to be welded to the position directly below the electric welding position of the machine vision spot welding machine module;

[0008] The mechanical arm is used to realize the transfer of the to-be-welded swing piece between the material conveying module, the mobile welding table, the swing piece group turnover module, the mobile welding table, and the material conveying module.

[0009] The material conveying module comprises a conveyor belt mechanism and a swing piece group tray, and the swing piece group tray is placed on the conveyor belt surface of the conveyor belt mechanism and is conveyed by the conveyor belt mechanism.

[0010] The mechanical arm comprises an ABB mechanical arm and an end suction device, and the end suction device is installed on the end mounting flange of the ABB mechanical arm; the end suction device comprises a mounting base, a sliding table cylinder, a suction head mounting plate, and a suction head; the mounting base is installed on the end mounting flange of the ABB mechanical arm, a plurality of sliding table cylinders are connected to the mounting base, one suction head mounting plate is fixedly connected to each sliding table cylinder, and one suction head is installed on each suction head mounting plate; the suction head comprises a general-size swing piece group suction head or a miniaturized-size swing piece group suction head.

[0011] The swing piece group turnover module comprises a second linear module and a first linear module, the second linear module is used to drive the horizontal movement of a first part support table, the first part support table is provided with a first placement seat for placing a to-be-welded swing piece, and the first placement seat comprises a first general-size swing piece group placement seat and a first miniaturized-size swing piece group placement seat.

[0012] The first linear module is used to drive the vertical movement of a connecting platform, the connecting platform is horizontally rotationally connected with a hexahedron, the hexahedron is connected with a suction nozzle for suctioning a to-be-welded swing piece, the suction nozzle comprises a miniaturized-size swing piece group suction nozzle and a general-size swing piece group suction nozzle, and the axis of the suction nozzle is perpendicular to the rotation axis of the hexahedron; the second linear module can drive the first part support table to move to the position directly below the suction nozzle.

[0013] The mobile welding table comprises a third linear module and a fourth linear module, the third linear module is used to drive the movement of a module mounting plate along an X direction, the fourth linear module is connected to the upper surface of the module mounting plate, the fourth linear module is used to drive the movement of a second part support table along a Y direction, the second part support table is provided with a second placement seat for placing a to-be-welded swing piece, the second placement seat comprises a second general-size swing piece group placement seat and a second miniaturized-size swing piece group placement seat, the X direction and the Y direction are both perpendicular to the movement direction of the electric welding head of the vision spot welding machine module, and the X direction is perpendicular to the Y direction.

[0014] The machine vision spot welding machine module comprises an electronic spot welding machine, a vision camera, a lens, a suspension rod, an adjusting bolt, an adjusting nut, an adapter and a camera socket; the electronic spot welding machine is connected on a platform through a support, and a spot welding head of the electronic spot welding machine can be vertically moved; one end of the suspension rod is fixedly connected to the electronic spot welding machine, and the other end is connected to the adapter through a screw; one end of the adapter and one end of the camera socket are both provided with through installation holes with the same diameter; the other end of the camera socket is clamped in a corresponding position of the lens and is fixed through a screw; the adjusting bolt passes through the installation hole at one end of the adapter and the installation hole at one end of the camera socket, and is adjusted in tightness on the other side by the adjusting nut; the vision camera and the lens can be rotated with the camera socket as the axis by loosening the adjusting nut, so as to adjust the vision camera to a proper angle, and then the adjusting nut is tightened to fix, so that the tip of the spot welding head is located in the center of the field of view of the vision camera.

[0015] A welding method of a quartz flexible accelerometer pendulum piece group lead, according to the automatic welding machine of the quartz flexible accelerometer pendulum piece group lead of any one of the above, comprising:

[0016] S1: place the welding pendulum piece on the pendulum piece group tray, and place the pendulum piece group tray on the conveying belt of the conveying belt mechanism, and drive the pendulum piece group tray to move to the feeding area by the conveying belt mechanism;

[0017] S2: the controller drives the manipulator to suck and carry the pendulum piece to be welded from the pendulum piece group tray to the second placement seat on the movable welding table through the suction head on the end suction device;

[0018] S3: the movable welding table drives the second placement seat to move until the lead of the pendulum piece to be welded is located directly below the spot welding head, and the electric welding head is lowered to weld;

[0019] S4: after welding, the movable welding table drives the second placement seat to move, the controller drives the manipulator to move the pendulum piece to be welded from the second placement seat to the first placement seat, the second linear module drives the first placement seat to move to the suction nozzle directly below, the first linear module drives the suction nozzle to move downward, the suction nozzle adsorbs the pendulum piece to be welded, then the hexahedron drives the suction nozzle to rotate 180°, and the manipulator uses the end suction device to suck and carry the pendulum piece to be welded to the second placement seat on the movable welding table;

[0020] S5: repeat step S3 to obtain the welded pendulum piece;

[0021] S6: the movable welding table drives the second placement seat to move, and the controller drives the manipulator to transfer the welded pendulum piece from the second placement seat to the pendulum piece group tray through the suction head.

[0022] In the step S3, the second placing seat is moved by the mobile welding table until the lead of the to-be-welded oscillation piece is located directly below the spot welding head, comprising: establishing a coordinate system with the moving direction of the spot welding head as the Z axis, taking a photo of the to-be-welded oscillation piece by the visual camera, identifying the lead of the to-be-welded oscillation piece according to the photo, calculating the length of the lead according to the ratio of the image of the identified lead and the pixel distance to the actual distance, locating the midpoint of the lead according to the length of the lead and taking one end of the lead as the location, calculating the X and Y distances of the midpoint of the lead to the bottom of the spot welding head, and obtaining the calculation result, and moving the first placing seat according to the calculation result by the mobile welding table.

[0023] When the visual camera takes a photo, strong exposure is adopted; the material of the lead of the to-be-welded oscillation piece is copper, and the surface of the bottom plate on one side of the lead is plated with gold.

[0024] The ratio of the pixel distance to the actual distance is obtained by taking a photo of a standard calibration plate by the visual camera (44) and comparing the pixel information of the obtained image of the calibration plate with the standard pattern of known size in the calibration plate to calculate the ratio of the pixel distance to the actual distance. The ratio of the pixel information of the lead in the image to the actual length of the lead, the ratio of the X axis and Y axis distances between the pixel information of the midpoint of the lead in the image and the actual position of the spot welding head, and the distance information of the actual spot welding head (43) are unified by the ratio to realize accurate positioning of the welding position.

[0025] In summary, the present application at least includes the following beneficial technical effects:

[0026] (1) In the prior art, the oscillation piece group lead welding is performed by manual tin soldering, which has low consistency and requires high skill level of the operator. Meanwhile, direct tin soldering on the gold-plated film layer is a forbidden process, which easily causes the phenomenon of brittle gold, and the oily flux used in manual tin soldering volatilizes and remains in the gap between the coil framework and the oscillation piece bonding surface at high temperature, which is difficult to observe and remove. Therefore, the oscillation piece group lead welding is realized by the electronic spot welding in the present application, which belongs to a kind of resistance welding and does not use any flux, so that the welding point is firm, small, low impedance, and resistant to high and low temperature and vibration impact, and the consistency and reliability of the oscillation piece group lead welding are improved.

[0027] (2) The machine vision spot welding machine module of the present application integrates a machine vision camera, can accurately position the welding position under the guidance of machine vision, and automatically performs lead spot welding under the action of a servo control system, and the bonding force of the welding point is better than 40 grams. Compared with the existing semi-automatic spot welding machine, the electronic spot welding module of the present application can obviously improve the welding efficiency and quality consistency. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1The whole schematic diagram of the automatic wire welding machine for the quartz flexible accelerometer pendulum piece group;

[0029] Figure 2 The schematic diagram of the general size pendulum piece group of the quartz flexible accelerometer;

[0030] Figure 3 The schematic diagram of the miniaturized pendulum piece group of the quartz flexible accelerometer;

[0031] Figure 4 The material conveying module schematic diagram of the automatic wire welding machine for the quartz flexible accelerometer pendulum piece group;

[0032] Figure 5 The mechanical arm schematic diagram of the automatic wire welding machine for the quartz flexible accelerometer pendulum piece group;

[0033] Figure 6 The mechanical arm end suction device schematic diagram of the automatic wire welding machine for the quartz flexible accelerometer pendulum piece group;

[0034] Figure 7 The pendulum piece group turnover module schematic diagram of the automatic wire welding machine for the quartz flexible accelerometer pendulum piece group;

[0035] Figure 8 The moving welding table schematic diagram of the automatic wire welding machine for the quartz flexible accelerometer pendulum piece group;

[0036] Figure 9 The machine vision spot welding machine module schematic diagram of the automatic wire welding machine for the quartz flexible accelerometer pendulum piece group.

[0037] Legend: 1, platform; 2, material conveying module; 3, mechanical arm; 4, pendulum piece group turnover module; 5, moving welding table; 6, machine vision spot welding machine module; 7, general size pendulum piece group;

[0038] 8, conveying belt mechanism; 9, driving motor; 10, pendulum piece group tray;

[0039] 11, ABB mechanical arm; 12, end suction device;

[0040] 13, general size pendulum piece group suction head; 14, miniaturized size pendulum piece group suction head; 15, sliding table air cylinder; 16, suction head mounting plate; 17, mounting base;

[0041] 18, first linear module; 19, hexahedron; 20, rotary motor; 21, first servo motor; 22 and 23, miniaturized size pendulum piece group suction nozzle; 24 and 25, general size pendulum piece group suction nozzle; 26, second linear module; 27, second servo motor; 28, first part support table; 29, first general size pendulum piece group placement seat; 30, first miniaturized size pendulum piece group placement seat;

[0042] 31. Third servo motor; 32. Fourth servo motor; 33. Third linear module; 34. Module mounting plate; 35. Auxiliary guide rail; 36. Slider; 37. Fourth linear module; 38. Second part support platform; 39. Second universal size sway bar assembly placement seat; 40. Second miniaturized size sway bar assembly placement seat;

[0043] 41. Bracket; 42. Electronic spot welding machine; 43. Spot welding head; 44. Vision camera; 45. Suspension rod; 46. Adjusting bolt. Detailed Implementation

[0044] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments:

[0045] This application discloses an automatic welding machine for the leads of a quartz flexible accelerometer pendulum assembly, such as... Figure 1 As shown, the system includes a marble platform 1, a material conveying module 2, a robotic arm 3, a plate-sharing group flipping module 4, a mobile welding table 5, and a machine vision spot welding machine module 6. All components are connected to a controller. The material conveying module 2 is mounted on the marble platform 1. The plate-sharing group to be welded is automatically supplied by the material conveying module 2. The robotic arm 3 is mounted in the center of the marble platform 1. The plate-sharing group flipping module 4 is mounted on the marble platform 1 and located to the left rear of the robotic arm 3. The mobile welding table 5 and the machine vision spot welding machine module 6 are also mounted on the marble platform 1 and located to the right rear of the robotic arm 3.

[0046] like Figure 1 As shown, the marble platform 1 provides an installation support reference surface for the material conveying module 2, the robot arm 3, the slab tilting module 4, the mobile welding table 5, and the machine vision spot welding machine module 6.

[0047] like Figure 4 As shown, the material conveying module 2 includes a conveyor belt mechanism 8, a conveyor belt drive motor 9, and four slab assembly trays 10; the slab assembly trays 10 are placed on the conveyor belt mechanism 8, and the conveyor belt mechanism 8 is driven by the drive motor 9 to transport the slab assembly trays 10; the slab assembly trays 10 are used to place slabs to be welded, the lead wires of the slabs to be welded are made of copper, and the surface of the base plate on one side of the lead wire is gold-plated.

[0048] like Figure 5 As shown, the robotic arm 3 includes an ABB robotic arm 11 and an end effector 12; the end effector 12 is mounted on the end mounting flange of the ABB robotic arm 11 by screws.

[0049] like Figure 6As shown, the end adsorber 12 includes 2 general size pendulum group adsorption heads 13, 2 small size pendulum group adsorption heads 14, 4 slide cylinders 15, 4 adsorption head mounting plates 16 and 1 mounting base 17;

[0050] The general size pendulum group adsorption heads 13 and the small size pendulum group adsorption heads 14 are respectively mounted on the adsorption head mounting plate 16 by screws; the adsorption head mounting plate 16 is also mounted on the slide cylinder 15 by screws; the slide cylinder 15 is further mounted on the mounting base 17 by screws.

[0051] As shown, Figure 7 The pendulum group turnover module 4 includes a mounting base 17, a first linear module 18, a hexahedron 19, a rotary motor 20, a first servo motor 21, two small size pendulum group nozzles 22 and 23, two general size pendulum group nozzles 24 and 25, a second linear module 26, a second servo motor 27, a first part support table 28, a general size pendulum group placing seat 29 and a small size pendulum group placing seat 30.

[0052] The mounting base 17 is mounted on the marble platform 1 by screws, the first linear module 18 is mounted on the mounting base 17, the first servo motor 21 is connected with the first linear module 18, and the first linear module 18 is used to drive the slide to move vertically; the first linear module 18 can be any structure that can drive the slide to move vertically, for example: the first linear module 18 includes a slide 47, a lead screw 48 and a module base 49, the first servo motor 21 drives the lead screw 48 to rotate, and the slide 47 is threadedly connected with the lead screw 48, so that the slide 47 can move vertically up and down under the drive of the lead screw 48; the rotary motor 20 is mounted on the slide 47 of the first linear module 18; the hexahedron 19 is mounted on the flange of the rotary motor 20, and the hexahedron 19 is horizontally connected with the rotary motor 20, the output shaft of the rotary motor 20 is fixedly connected with the slide 47, and the rotary motor 20 can drive the hexahedron 19 to rotate around the horizontal axis when started; the two small size pendulum group nozzles 22 and 23 are mounted on the hexahedron 19 by screws, and the two general size pendulum group nozzles 24 and 25 are also mounted on the hexahedron 19 by screws; the second linear module 26 has the same structure as the first linear module 18, and is mounted on the marble platform 1 by screws; the second servo motor 27 is connected with the second linear module 26; the first part support table 28 is mounted on the mounting flange of the second linear module 26 by screws, and the second linear module 26 has the same structure as the first linear module, and can drive the first part support table 28 to move horizontally; the general size pendulum group placing seat 29 and the small size pendulum group placing seat 30 are both mounted on the part support table 28 by screws.

[0053] As shown, Figure 8As shown, the mobile welding platform includes a third servo motor 31, a fourth servo motor 32, a third linear module 33, a module mounting plate 34, an auxiliary guide rail 35, a sliding block 36, a fourth linear module 37, a second part support platform 38, a second general size dial group placement seat 39, and a second miniaturized size dial group placement seat 40.

[0054] The third servo motor 31 is connected with the third linear module 33, and the third linear module 31 has the same structure as the first linear module 18 and is installed on the marble platform 1 by screws; the fourth servo motor 32 is connected with the fourth linear module 37, and the fourth linear module 37 has the same structure as the first linear module 18, and is installed on the module mounting plate 34, one end of the module mounting plate 34 is installed on the mounting flange of the third linear module 33, and the other end is installed on the sliding block 36, and the sliding block is installed on the auxiliary guide rail 35; the second part support platform 38 is installed on the mounting flange of the fourth linear module 37, and the second general size dial group placement seat 39 and the second miniaturized size dial group placement seat 40 are both installed on the second part support platform 38 by screws.

[0055] As shown in Figure 9 The machine vision spot welding machine module 6 includes an electronic spot welding machine 42, a vision camera 44, a lens 53, a suspension rod 45, an adjusting bolt 46, an adjusting nut 52, an adapter 50, and a camera socket; the electronic spot welding machine 42 is installed on the support 41 by screws, and the support 41 is installed on the marble platform 1 by screws; the spot welding head 43 is installed below the electronic spot welding machine 43; one end of the suspension rod 45 is fixedly connected to the electronic spot welding machine 42, and the other end is connected to the adapter 50 by screws; one end of the adapter 50 and one end of the camera socket 51 both have through installation holes with the same diameter; the other end of the camera socket is clamped in the corresponding position of the lens 53 and is fixed by screws; the adjusting bolt 46 passes through the installation hole of one end of the adapter 50 and the installation hole of one end of the camera socket 51, and is adjusted in tightness on the other side by the adjusting nut 52; after loosening the adjusting nut 52, the vision camera 44 and the lens 53 can rotate with the camera socket 51 as the axis to adjust the angle of the vision camera 44 to a suitable angle, and then the adjusting nut 52 is tightened to fix it, so that the tip of the spot welding head 43 is located in the center of the field of view of the vision camera 44.

[0056] The suspension rod 45 is fixedly connected to the electronic spot welding machine 42, one end of the suspension rod 45 is connected to the adjusting bolt 46, and the other end is fixed to the top of the electronic spot welding machine 42; the vision camera 44 is installed on the adjusting bolt 46 by screws and is connected to the suspension rod 45 through the adjusting bolt 46, and is finally fixed in front of the electronic spot welding machine 42; the shooting angle of the vision camera 44 can be adjusted by rotating the adjusting bolt 46, so that the spot welding head 43 is located in the center of the field of view of the vision camera 44.

[0057] A method for automatic welding of the lead of the quartz flexible accelerometer pendulum piece group, taking a general size pendulum piece group as an example, comprising:

[0058] The general size pendulum piece group 7 is placed in the corresponding position of the pendulum piece group tray 10 in sequence and is filled up;

[0059] The pendulum piece group tray 10 loaded with the general size pendulum piece group 7 is transported to the feeding area by the material conveying module 2, and the material conveying module 2 sends a first arrival signal to the controller after being transported to the feeding area;

[0060] The controller controls the movement of the manipulator 3 according to the first arrival signal, and the general size pendulum piece group suction head 13 on the end suction device 12 of the manipulator 3 sucks and carries the general size pendulum piece group 7 from the pendulum piece group tray 10 to the general size pendulum piece group placing seat 29 on the movable welding table 5; at this time, the movable welding table 5 sends a second arrival signal to the controller, and the controller controls the visual camera 44 to collect images after receiving the second arrival signal;

[0061] The visual camera 44 on the machine vision spot welding machine module 6 collects images of the general size pendulum piece group 7 and transmits image information to the control system, and the control system identifies the positions of the two leads on the front of the general size pendulum piece group 7 and the lengths of the lead bodies through the image information, specifically including: establishing a coordinate system with the moving direction of the spot welding head 43 as the Z axis, the visual camera 44 uses strong exposure to take a photo including the pendulum piece group to be welded, and the size and shape of the lead are highlighted according to the reflection difference of the lead body image and the solder pad image under the light source of the visual camera, and then the length of the lead is calculated through a visual algorithm, and the midpoint of the lead is calibrated according to the length of the lead and the distance of the X axis and the Y axis needed to move from the bottom of the spot welding head directly below the midpoint of the lead is calculated, and the calculation result is obtained;

[0062] Then the controller controls the third servo motor 31 and the fourth servo motor 32 of the movable welding table 5 to rotate, so that the first placing seat moves according to the calculation result, and the first lead of the general size pendulum piece group 7 is moved to the spot welding head 43 directly below, and the control system controls the spot welding head 43 to move vertically downward until the spot welding head 43 presses the lead and reaches the preset pressure, and then starts the welding pulse current to weld the lead to the gold-plated pad of the general size pendulum piece group 7; the spot welding head 43 moves up, and the control system moves the second lead of the general size pendulum piece group 7 to the spot welding head 43 directly below, and the spot welding head 43 moves down again until the spot welding head 43 presses the lead and reaches the preset pressure, and then starts the welding pulse current to weld the lead to the gold-plated pad of the general size pendulum piece group 7, completing the welding of the two leads on the front of the general size pendulum piece group 7;

[0063] The robot 3 uses the general size chip set suction head 13 on the end suction device 12 to suck and carry the general size chip set 7 on the mobile welding table 5 which has completed the welding of the two lead wires on the front surface to the first general size chip set placing seat 29 of the chip set turnover module 4; the rotary motor 20 rotates 90°, and the general size chip set suction nozzle 24 is rotated to be directly below; the second servo motor 27 drives the second linear module 26 to move the general size chip set placing seat 29 to be directly below the general size chip set suction nozzle 24; the first servo motor 21 drives the first linear module 18 to drive the general size chip set suction nozzle 24 to move downward to be 70.1mm away from the general size chip set, and then air pressure is started to suck the general size chip set on the general size chip set suction nozzle 24; the rotary motor 20 rotates 180° to make the general size chip set 7 upside down, and the turnover is realized; the robot 3 uses the end suction device 12 to suck and carry the general size chip set 7 on the general size chip set suction nozzle 24 to the second general size chip set placing seat 39 on the mobile welding table 5.

[0064] The vision camera 44 on the machine vision spot welding machine module 6 collects images of the general size chip set 7 and transmits image information to the control system; after the control system identifies the positions of the two lead wires on the back surface of the general size chip set 7 through the image information, the control system controls the third servo motor 31 and the fourth servo motor 32 of the mobile welding table 5 to rotate, and moves the first lead wire of the general size chip set 7 to be directly below the spot welding head 43; the control system controls the spot welding head 43 to move vertically downward until the spot welding head 43 presses the lead wire and reaches the preset pressure, and then starts the welding pulse current to weld the lead wire to the gold-plated pad of the general size chip set 7; the spot welding head 43 moves upward, the control system moves the second lead wire of the general size chip set 7 to be directly below the spot welding head 43, and the spot welding head 43 moves downward again until the spot welding head 43 presses the lead wire and reaches the preset pressure, and then starts the welding pulse current to weld the lead wire to the gold-plated pad of the general size chip set 7, thereby completing the welding of the two lead wires on the back surface of the general size chip set 7, and completing the welding of the four lead wires on the front and back surfaces of the general size chip set 7.

[0065] The robot 3 uses the general size chip set suction head 13 on the end suction device 12 to suck and carry the general size chip set 7 on the mobile welding table 5 which has completed the welding of the two lead wires on the front surface to the first general size chip set placing seat 29 of the chip set turnover module 4; the rotary motor 20 rotates 90°, and the general size chip set suction nozzle 24 is rotated to be directly below; the second servo motor 27 drives the second linear module 26 to move the general size chip set placing seat 29 to be directly below the general size chip set suction nozzle 24; the first servo motor 21 drives the first linear module 18 to drive the general size chip set suction nozzle 24 to move downward to be 70.1mm away from the general size chip set, and then air pressure is started to suck the general size chip set on the general size chip set suction nozzle 24; the rotary motor 20 rotates 180° to make the general size chip set 7 upside down, and the turnover is realized; the robot 3 uses the end suction device 12 to suck and carry the general size chip set 7 on the general size chip set suction nozzle 24 to the second general size chip set placing seat 39 on the mobile welding table 5.

[0066] The lead wire welding method of the miniaturized size chip set 47 is consistent with that of the general size chip set 7.

[0067] The method of the present application will be further described in detail below with specific embodiments, taking the general size chip set 7 as an example.

[0068] Preparation: First, the head 1-2mm range of the four lead wires on the front and back of the complete and bonded general size array group 7 is manually stripped according to the process requirements, and the lead wires are straightened; then the general size array group 7 is placed in the array group tray 10 in turn with the front up, and the array group tray 10 is placed in the corresponding position in the material conveying module 2.

[0069] Automatic feeding: After the material conveying module 2 conveys the array group tray 10 loaded with the general size array group 7 to the feeding area, the mechanical hand 3 uses the general size array group suction head 13 on the end suction device 12 to suck the general size array group 7 from the array group tray 10 and carry it to the general size array group placing seat 29 on the mobile welding table 5;

[0070] Automatic front welding: the vision camera 44 on the machine vision spot welding machine module 6 collects images of the general size array group 7 and transmits image information to the control system. After the control system identifies the positions of the two lead wires on the front of the general size array group 7 through the image information, it controls the third servo motor 31 and the fourth servo motor 32 of the mobile welding table 5 to rotate, moves the first lead wire of the general size array group 7 to the position directly below the spot welding head 43, and then controls the spot welding head 43 to move vertically downward until the spot welding head 43 presses the lead wire and reaches the preset pressure, and then starts the welding pulse current to weld the lead wire to the gold-plated pad of the general size array group 7; the spot welding head 43 moves up, and the control system moves the second lead wire of the general size array group 7 to the position directly below the spot welding head 43, and the spot welding head 43 moves down again until it presses the lead wire and reaches the preset pressure, and then starts the welding pulse current to weld the lead wire to the gold-plated pad of the general size array group 7, completing the welding of the two lead wires on the front of the general size array group 7;

[0071] Automatic flipping: the mechanical hand 3 uses the general size array group suction head 13 on the end suction device 12 to suck the general size array group 7 on the mobile welding table 5 that has completed the welding of the two lead wires on the front and carry it to the first general size array group placing seat 29 of the array group flipping module 4; the rotating motor 20 rotates 90° to rotate the general size array group suction nozzle 24 to the position directly below; the second servo motor 27 drives the second linear module 26 to move the general size array group placing seat 29 to the position directly below the general size array group suction nozzle 24; when the first servo motor 21 drives the first linear module 18 to move the general size array group suction nozzle 24 downward to a distance of 0.1mm from the general size array group 7, the air pressure is started to adsorb the general size array group on the general size array group suction nozzle 24; the rotating motor 20 rotates 180° to turn the general size array group 7 upside down, achieving flipping; the mechanical hand 3 then uses the end suction device 12 to suck the general size array group 7 on the general size array group suction nozzle 24 and carry it to the general size array group placing seat 29 on the mobile welding table 5.

[0072] Automatic welding back: the vision camera 44 on the machine vision spot welding machine module 6 collects images of the general size pendulum group 7 and transmits image information to the control system, and the control system identifies the positions of the two lead wires on the back of the general size pendulum group 7 through the image information, and then controls the third servo motor 31 and the fourth servo motor 32 of the moving welding table 5 to rotate, so that the first lead wire of the general size pendulum group 7 is moved to the position directly below the spot welding head 43, and then the control system controls the spot welding head 43 to move vertically downward until the spot welding head 43 presses the lead wire and reaches the preset pressure, and then starts the welding pulse current to weld the lead wire to the gold-plated pad of the general size pendulum group 7; the spot welding head 43 moves upward, and the control system moves the second lead wire of the general size pendulum group 7 to the position directly below the spot welding head 43, and then the spot welding head 43 moves downward again until the spot welding head 43 presses the lead wire and reaches the preset pressure, and then starts the welding pulse current to weld the lead wire to the gold-plated pad of the general size pendulum group 7, thereby completing the welding of the two lead wires on the back of the general size pendulum group 7, and thus completing the welding of the four lead wires on the front and back of the general size pendulum group 7;

[0073] Automatic discharging: the manipulator 3 uses the general size pendulum group suction head 13 on the end suction device 12 to suck and transport the general size pendulum group 7 on the moving welding table 5 which has completed the welding of the lead wires on the front and back to the pendulum group tray 10 on the material conveying module 2, thereby completing the discharging.

[0074] The present application adds a vision camera 44 to the electronic spot welding machine 42, and under the guidance of the vision camera 44, the position of the lead wire of the general size pendulum group 7 or the miniaturized size pendulum group 47 to be welded is identified and calculated, and the calculation result is returned to the control system, so that the moving welding table 5 moves the general size pendulum group 7 or the miniaturized size pendulum group 47 to the position below the spot welding head 43, and the center of the lead wire to be welded is located directly below the spot welding head 43, and the electronic welding head 43 is pressed downward to realize the accurate welding of the four lead wires on the front and back of the general size pendulum group 7 or the miniaturized size pendulum group 47, thereby realizing the automatic welding of the lead wires of the general size pendulum group 7 or the miniaturized size pendulum group 47 by the machine vision spot welding machine module 6, the moving welding table 5 and the pendulum group overturning module 4, improving the assembly efficiency while ensuring the reliability and quality consistency of the lead wire welding of the quartz flexible accelerometer pendulum group.

[0075] The present application makes the lead wire welding of the general size pendulum group 7 or the miniaturized size pendulum group 47 change from manual soldering to complete automation by the machine vision spot welding machine module 6, the moving welding table 5 and the pendulum group overturning module 4, thereby improving the assembly efficiency while ensuring the reliability and quality consistency of the lead wire welding of the quartz flexible accelerometer pendulum group.

[0076] The core of the application is a machine vision spot welding machine 6 and a mobile welding table 5. Through the coordinated control of the machine vision spot welding machine 6 and the mobile welding table, the automatic welding of the lead of the quartz flexible accelerometer pendulum piece group based on machine vision is realized, the labor intensity of workers is effectively reduced, the product quality consistency is improved, the quality hidden danger of flux residue is eliminated, and the batch production of the quartz flexible accelerometer has a strong promoting effect.

[0077] The quartz flexible accelerometer pendulum piece group lead automatic welding machine mainly plays a role in automatically and accurately welding the lead of the general size pendulum piece group 7 or the small size pendulum piece group 47, and automatically feeds and discharges, and can be used in the automatic assembly of the quartz flexible accelerometer pendulum piece group. The application has the advantages that the real-time online visual detection of the pendulum piece group lead can be performed, and the high-precision automatic welding of the lead is realized.

[0078] The part not described in detail in the application is the common knowledge of those skilled in the art.

[0079] Although the application is disclosed with the preferred embodiments as above, it is not intended to limit the application, and any person skilled in the art can make possible changes and modifications without departing from the spirit and scope of the application. Therefore, the protection scope of the application should be subject to the scope defined by the claims of the application.

Claims

1. A quartz flexible accelerometer balance wheel group lead automatic welding machine, characterized in that: The platform (1) is provided with a material conveying module (2), a manipulator (3), a flip module (4) for a group of lugs, a mobile welding table (5), a machine vision spot welding machine module (6), and a controller, The group of lugs to be welded is supplied by the material conveying module (2), the flip module (4) is used for flipping the lugs to be welded, and the mobile welding table (5) is used for moving the lugs to be welded directly below the welding position of the machine vision spot welding machine module (6); The manipulator (3) is used for transferring the lugs to be welded between the material conveying module (2), the mobile welding table (5), the flip module (4) for a group of lugs, the mobile welding table (5), and the material conveying module (2). The manipulator (3) comprises an ABB manipulator (11) and an end suction device (12), and the end suction device (12) is installed on the end mounting flange of the ABB manipulator (11); the end suction device (12) comprises a mounting base (17), a sliding table cylinder (15), a suction head mounting plate (16), and a suction head; The mounting base (17) is installed on the end mounting flange of the ABB manipulator (11), a plurality of sliding table cylinders (15) are connected to the mounting base (17), each sliding table cylinder (15) is fixedly connected to a suction head mounting plate (16), each suction head mounting plate (16) is installed with a suction head, and the suction head comprises a general-size group of lugs suction head (13) or a mini-size group of lugs suction head (14); The machine vision spot welding machine module (6) comprises an electronic spot welding machine (42), a vision camera (44), a suspension rod (45), an adjusting bolt (46), an adjusting nut (52), an adapter (50), and a camera mount (51); The electronic spot welding machine (42) is fixed on the platform (1), the spot welding head (43) of the electronic spot welding machine (42) moves vertically, the camera mount (51) is connected to the vision camera (44), and one end of the suspension rod (45) is fixedly connected to the electronic spot welding machine (42) and the other end is connected to the adapter (50); One end of the adapter (50) and one end of the camera mount (51) are provided with mounting holes, the adjusting bolt (46) passes through the mounting holes of the adapter (50) and the camera mount (51), one end of the adjusting bolt (46) passing through the mounting holes is threadedly connected to the adjusting nut (52), and the vision camera (44) can be rotated around the adjusting bolt (46) by adjusting the tightness of the adjusting nut (52).

2. A quartz flexible accelerometer balance web group lead automatic welding machine according to claim 1, characterized in that: The material conveying module (2) comprises a conveyor belt mechanism (8) and a group of lug trays (10), the group of lug trays (10) are placed on the conveying belt surface of the conveyor belt mechanism (8), and the group of lug trays (10) are conveyed by the conveyor belt mechanism (8).

3. A machine for automatic bonding of leads to a group of quartz flexure accelerometer pendulous pieces according to claim 1, characterized in that: The swing piece group turnover module (4) comprises a second linear module (26) and a first linear module (18). The second linear module (26) is used to drive a first part support table (28) to move horizontally. The first part support table (28) is provided with a first placement seat for placing a swing piece to be welded. The first placement seat comprises a first general size swing piece group placement seat (29) and a first miniaturized size swing piece group placement seat (30). The first linear module (18) is used to drive a connecting platform to move vertically. The connecting platform is horizontally connected with a hexahedron (19). The hexahedron (19) is connected with a suction nozzle for suctioning the swing piece to be welded. The suction nozzle comprises a miniaturized size swing piece group suction nozzle and a general size swing piece group suction nozzle. The axis of the suction nozzle is perpendicular to the rotation axis of the hexahedron (19). The second linear module (26) can drive the first part support table (28) to move to the position directly below the suction nozzle.

4. The automatic wire bonding machine for a quartz flexure accelerometer balance wheel group according to claim 1, characterized in that: The moving welding table (5) comprises a third linear module (33) and a fourth linear module (37). The third linear module (33) is used to drive a module mounting plate (34) to move along an X direction. The fourth linear module (37) is connected to the upper surface of the module mounting plate (34). The fourth linear module (37) is used to drive a second part support table (38) to move along a Y direction. The second part support table (38) is provided with a second placement seat for placing a swing piece to be welded. The second placement seat comprises a second general size swing piece group placement seat (39) and a second miniaturized size swing piece group placement seat (40). The X direction and the Y direction are both perpendicular to the moving direction of the electric welding head of the vision spot welding machine module. The X direction is perpendicular to the Y direction.

5. A method for welding the leads of a quartz flexible accelerometer balance wheel set, characterized in that it uses an automatic welding machine for the leads of a quartz flexible accelerometer balance wheel set according to any one of claims 1 to 4. The method comprises the following steps: S1: placing the swing piece to be welded on a swing piece group tray (10) and placing the swing piece group tray (10) on a conveying belt of a conveying belt mechanism (8). The conveying belt mechanism (8) drives the swing piece group tray (10) to move to a feeding area; S2: a controller drives a manipulator (3) to suction and carry the swing piece to be welded from the swing piece group tray (10) to a second placement seat on a moving welding table (5) through a suction head on an end suction device (12); S3: the moving welding table (5) drives the second placement seat to move until the lead of the swing piece to be welded is located directly below a spot welding head (43). The electric welding head moves downward to perform welding; S4: after the welding is completed, the moving welding table (5) drives the second placement seat to move. The controller drives the manipulator (3) to move the swing piece to be welded from the second placement seat to a first placement seat through the suction head. The second linear module (26) drives the first placement seat to move to the position directly below the suction nozzle. The first linear module (18) drives the suction nozzle to move downward. The suction nozzle suctions the swing piece to be welded. Then, the hexahedron (19) drives the suction nozzle to rotate by 180°. The manipulator (3) uses the end suction device (12) to suction and carry the swing piece to be welded to the second placement seat of the moving welding table (5); S5: the step S3 is repeated to obtain the swing piece after welding; S6: the moving welding table (5) drives the second placement seat to move. The controller drives the manipulator (3) to transfer the swing piece after welding from the second placement seat to the swing piece group tray (10) through the suction head. In the step S3, the mobile welding table (5) drives the second placing seat to move until the lead of the to-be-welded flip-chip is located directly below the spot welding head (43), including: A coordinate system is established with the moving direction of the spot welding head (43) as the Z axis, the visual camera (44) takes a photo to obtain a photo including the to-be-welded flip-chip group, the lead line body and the pad area of the to-be-welded flip-chip group are recognized according to the image information of the photo, the size and shape of the lead are highlighted according to the light reflection difference of the recognized lead line body image and the pad image under the light source of the visual camera (44), the length of the lead is calculated according to the ratio of the recognized lead image and the pixel distance to the actual distance, the distances of the X axis and the Y axis required for the midpoint of the lead to move to the bottom of the spot welding head (43) directly below are calibrated according to the length of the lead and the positioning of the one end of the lead, and the calculation result is obtained, so that the mobile welding table (5) drives the first placing seat to move according to the calculation result; When the visual camera (44) takes a photo, strong exposure is adopted; the material of the lead of the to-be-welded flip-chip group is copper, and the bottom plate surface of the bottom side of the lead is gold-plated quartz glass.

6. The method of claim 5, wherein: The ratio of the pixel distance to the actual distance is obtained, including: the standard calibration plate is photographed by the visual camera (44), and the pixel information of the obtained calibration plate image is compared with the standard pattern with a known size in the calibration plate to calculate the ratio of the pixel distance to the actual distance.

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