TR component packaging device and method

Abstract

The present invention provides a TR component packaging device and method, and relates to the technical field of TR components. The TR component packaging device includes a TR component body, a chassis, a laser welding device, three sets of conveying devices, and three sets of manipulators. In the present invention, after the vacuum environment of the welding chamber is initially established by a negative pressure pump, in each subsequent welding operation, only part of the air will enter the welding chamber from the inside of the sliding chamber when the tooling enters and exits the welding chamber, which has little impact on the vacuum environment established in the welding chamber. The negative pressure pump only needs to be started for a short time to restore to the preset vacuum environment, which greatly improves work efficiency. With the three sets of devices and three sets of manipulators, the integrated and continuous operation of loading, assembling, welding, and discharging of the TR component shell and cover plate packaging can be realized, which reduces the labor intensity of workers and greatly improves production efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of TR components, and in particular to a TR component packaging device and method. Background Art

[0002] The TR component is the core component of the entire radar system and is closely related to the performance of the radar. It is a multi-chip micro-assembly component with a complex structure, high assembly precision requirements, and great manufacturing difficulty, requiring component-level sealing. The TR assembly process includes many aspects of hybrid microcircuit technology and multi-chip assembly technology, such as thin film technology, LTCC multi-layer substrate technology, shell coating technology, micro-assembly technology, packaging technology, etc. Its sealing is mainly guaranteed by high-precision welding mating surfaces, high-quality solderable coatings, reasonable welding fixtures, preferred solder and welding temperature curves, etc.

[0003] Laser sealing has the advantages of high energy density, small heat-affected zone, small welding deformation, good sealing, and high welding efficiency. It is widely used in the packaging of TR components in electronic fields such as aerospace. The high airtightness of laser sealing is crucial to protect the inside of TR components from external environmental erosion and mechanical damage, thereby ensuring good microwave performance and working stability of the product. In the early days of TR component packaging, laser welding had the following problems: oxidation reactions and gas generation during welding, bubbles and inclusions were prone to appear in the weld, resulting in the need for nondestructive testing after welding; the welding area was exposed to a lot of heat and was prone to deformation and residual stress. For this reason, some technology has been developed for laser welding in a vacuum environment. At present, the vacuum environment maintenance time in the existing vacuum laser welding equipment is relatively long, and continuous operation cannot be achieved, which greatly affects the packaging efficiency. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In view of the deficiencies in the prior art, the present invention provides a TR component packaging device and method, which solves the problem that the vacuum environment maintenance time in the existing vacuum laser welding equipment is long and continuous operation cannot be achieved.

[0006] (II) Technical solution

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: a TR component packaging device and method, including a TR component body, a chassis, a laser welding device, three groups of conveying devices and three groups of manipulators, the TR component body is composed of a shell, a component arranged inside the shell and a cover plate arranged on the upper wall of the shell, the laser welding device is composed of a laser module and a laser welding head, the three groups of conveying devices are respectively arranged on the front side, right side and left side of the chassis, the front side, right side and left side of the chassis are fixedly connected with a shield through a bracket, the manipulator is arranged on the inner side wall of the shield, the lower wall of the chassis is provided with four groups of feet for support, the rear wall of the chassis is fixedly connected with a vertical plate, the upper end of the vertical plate extends toward the upper side of the chassis, and the front wall of the vertical plate A welding box is fixedly connected near the upper end of the vertical plate, the laser module is fixedly connected to the upper wall of the welding box, a window is provided on the front wall of the welding box, and two layers of visual windows are provided on the inner wall of the window. A welding cavity is provided inside the welding box, and the laser welding head is provided on the inner upper wall of the welding cavity. A negative pressure forming structure for sucking the inside of the welding cavity into a vacuum is provided between the right wall of the welding box and the chassis, and an upper baffle and a lower baffle are fixedly connected to the inside of the welding cavity in sequence from top to bottom, and the horizontal heights of the upper baffle and the lower baffle are both located below the visual window, and the inner walls of the upper baffle and the lower baffle are both provided with docking holes that penetrate up and down, and a sliding cavity is formed between the opposite sides of the upper baffle and the lower baffle, and a structure for connecting the two sets of docking holes is provided between the vertical plate and the sliding cavity. The partition is used to realize a closed structure for sealing the interior of the welding chamber, the lower wall of the lower baffle plate and the outer wall of the docking hole are provided with a sealing groove, the inner wall of the sealing groove and the inner walls of the two groups of docking holes are provided with sealing rings, the lower wall of the lower baffle plate and the outer side of the sealing groove are provided with multiple groups of mounting holes, the inner walls of the multiple groups of mounting holes are fixedly connected with springs by screws, the upper wall of the chassis is provided with a groove, the inner wall of the groove is rotatably connected with a turntable through a bearing, the lower wall of the turntable and the inside of the chassis are provided with a rotating drive structure for driving the turntable to rotate, the upper wall of the turntable is provided with four groups of positioning grooves, the four groups of positioning grooves are equally distributed on the circumference with the center of the turntable as the center, the inner wall of the positioning groove is slidably connected with a movable plate, the upper wall of the movable plate is fixedly connected with a boss, and the boss The projection of the platform in a top view is circular and its diameter is smaller than the inner diameter of the welding cavity. A tooling for placing the TR component to be welded is fixedly connected to the upper wall and the center of the boss. The outer diameter of the tooling matches the inner diameter of the docking hole. The height of the tooling is higher than the distance from the upper wall of the upper baffle plate to the lower wall of the lower baffle plate. Four groups of first positioning columns are arranged on the upper wall of the movable plate and located on the periphery of the boss. The four groups of the first positioning columns are respectively close to the four corners of the upper wall of the movable plate. The four groups of the first positioning columns pass through the inner wall of the movable plate toward one end of the movable plate and extend to the bottom of the movable plate. A first positioning structure for positioning the movable plate and the positioning groove is arranged between the inner lower wall of the positioning groove and the first positioning column. The four groups of first clearance holes that pass through from top to bottom are arranged on the inner lower wall and the center of the positioning groove.The upper wall of the chassis and near the rear wall is provided with a second clearance hole that is through-and-through. One of the four groups of the first clearance holes, which is near the vertical plate, is vertically opposite to the second clearance hole. The inner wall of the second clearance hole is provided with a push plate through a lifting drive structure. A second positioning structure for connection and positioning is provided between the push plate and the movable plate. The lower wall of the welding box is provided with a third positioning structure for positioning when the tooling is docked with the docking hole.

[0008] Preferably, the negative pressure forming structure includes a negative pressure pump, an air pipe and an air pressure sensor. The air pipe and the air pressure sensor are fixedly connected to the right wall of the welding box in a front-to-back distribution and are both connected to the inside of the welding cavity. The negative pressure pump is fixedly connected to the lower inner wall of the chassis and close to the rear wall. The end of the air pipe away from the welding box passes through the rear wall of the chassis and extends into the interior of the chassis. The end of the air pipe extending into the interior of the chassis is fixedly connected to the inlet end of the negative pressure pump.

[0009] Preferably, the closing structure includes a second cylinder and a closing plate, the closing plate is slidably connected to the inner wall of the sliding cavity, the second cylinder is fixedly connected to the rear wall of the vertical plate, the second cylinder extends a shaft that sequentially penetrates the inner wall of the vertical plate, the rear wall of the welding box and extends into the sliding cavity, one end of the second cylinder extending into the sliding cavity is fixedly connected to the rear wall of the closing plate, and rubber layers are provided on the upper and lower sides of the closing plate, and the two rubber layers are slidably connected to the lower wall of the upper baffle and the upper wall of the lower baffle respectively.

[0010] Preferably, the rotary drive structure includes a second fixed plate, a motor, a rotating shaft and two groups of gears, the rotating shaft is fixedly connected to the lower wall of the turntable and is located at the center of the lower wall of the turntable, the end of the rotating shaft away from the turntable is rotatably connected to the inner lower wall of the chassis through a rotating seat, the second fixed plate is fixedly connected between the inner upper wall and the inner lower wall of the chassis and is located in front of the rotating shaft, the motor is fixedly connected to the rear wall of the second fixed plate, the two groups of gears are respectively fixedly connected to the end of the motor shaft extending therefrom and the outer wall of the rotating shaft, and the outer walls of the two groups of gears are meshed with each other.

[0011] Preferably, the first positioning structure includes four groups of first positioning holes, which are all arranged on the inner lower wall of the positioning groove, and are respectively opposite to one end of the four groups of first positioning columns extending below the movable plate.

[0012] Preferably, the second positioning structure includes four groups of second positioning columns and second positioning holes, the four groups of second positioning columns are fixedly connected to the upper wall of the push plate, the four groups of second positioning holes are arranged on the lower wall of the movable plate and the four groups of second positioning holes are respectively opposite to the four groups of second positioning columns up and down.

[0013] Preferably, the third positioning structure includes four groups of third positioning holes, and the four groups of third positioning holes are all arranged on the lower wall of the welding box and are respectively opposite to the four groups of first positioning columns in the upper and lower directions.

[0014] Preferably, the lifting drive structure includes a first fixed plate, a first cylinder and a push block, the first fixed plate is fixedly connected to the inner upper wall of the chassis and is located at the lower mouth of the second makeshift hole, the first cylinder is fixedly connected to the lower wall of the first fixed plate, the end of the extended shaft of the first cylinder passes through the inner wall of the first fixed plate and extends into the second makeshift hole, the push block is fixedly connected to the end of the extended shaft of the first cylinder, and the push plate is fixedly connected to the upper wall of the push block.

[0015] Preferably, the two layers of the visual windows are respectively tempered glass and acrylic PMMA plate from front to back.

[0016] According to the above-mentioned packaging method of a TR component packaging device, the packaging method comprises the following steps:

[0017] S1. Prepare the shell of the laminated components and the cover plate to be welded with the shell. The shell is conveyed by the conveying device on the front side of the chassis, and the cover plate is conveyed by the conveying device on the right side of the chassis. The conveying device on the left side of the chassis is used to convey the TR component body after welding and packaging.

[0018] S2, the manipulator on the front side of the chassis grabs the shell and puts it into the tooling, the motor starts, and the turntable rotates 90 degrees counterclockwise in the top view, and the manipulator on the right side of the chassis grabs the cover plate and places it on the upper wall of the shell placed on the tooling in the previous sequence, and the motor starts again, and the turntable rotates 90 degrees counterclockwise in the top view;

[0019] S3, the second cylinder drives the closing plate to close the two docking holes, the negative pressure pump sucks the inside of the welding chamber into negative pressure through the air pipe, and the negative pressure degree is confirmed by the air pressure sensor. After reaching the preset vacuum degree, the first cylinder extends the shaft, and the push plate pushes the second positioning column to be inserted into the second positioning hole and connected with the movable plate. The first cylinder extends the shaft continuously, and the movable plate is positioned with the welding box through the first positioning column and the third positioning hole. After the first positioning column is inserted into the third positioning hole, the first cylinder extends the shaft continuously. When the tooling enters the docking hole on the inner wall of the lower baffle plate, the second cylinder extends the shaft retracts, driving the closing plate to retreat, and the first cylinder extends the shaft continuously until the upper wall of the boss abuts against the lower wall of the lower baffle plate, and the upper wall of the boss and the lower wall of the lower baffle plate are sealed by a sealing ring. At this time, the tooling passes through the docking hole on the inner wall of the upper baffle plate and extends into the welding chamber.

[0020] S4, detecting the vacuum condition inside the welding chamber by means of an air pressure sensor, and restoring the welding chamber to a preset vacuum degree by means of a negative pressure pump, starting the laser welding head, and performing laser welding on the connection between the shell and the cover plate under a vacuum condition;

[0021] S5. After welding is completed, the first cylinder extends the shaft and retracts, and the boss is separated from the lower baffle by the squeezing of the spring. When the spring is in a free state, the upper edge of the tooling is separated from the docking hole on the inner wall of the upper baffle, and part of the air inside the sliding cavity enters the welding cavity. The movable plate and the boss slide downward by their own weight. When the tooling enters the docking hole inside the lower baffle, the second cylinder extends the shaft and drives the closing plate to move forward. The two sets of docking holes are closed by the closing plate. The first cylinder extends the shaft and continues to retract until it retracts to the end of the lower stroke. The movable plate and the positioning groove are positioned and docked by the first positioning column and the first positioning hole. After the movable plate falls back into the positioning groove, the motor starts again, driving the turntable to rotate counterclockwise by 90 degrees in a top-down projection, and the packaged TR component body is transferred to a position close to the left side of the chassis. The packaged TR component is grabbed by the manipulator on the left side of the chassis and sent to the corresponding conveying device. The above process is repeated to achieve continuous operation.

[0022] (III) Beneficial effects

[0023] The present invention provides a TR component packaging device and method, which has the following beneficial effects:

[0024] 1. Compared with the prior art, in the TR component packaging device and method, after the vacuum environment of the welding chamber is initially established by the negative pressure pump, in each subsequent welding operation, only part of the air will enter the welding chamber from the inside of the sliding chamber when the tooling enters and exits the welding chamber, which has little impact on the vacuum environment established in the welding chamber. The negative pressure pump only needs to be started for a short time to restore to the preset vacuum environment, greatly improving work efficiency.

[0025] 2. Compared with the existing technology, the TR component packaging equipment and method, with three sets of devices and three sets of manipulators, can realize the integrated and continuous operation of loading, assembling, welding and unloading of the TR component shell and cover plate packaging, reducing the labor intensity of workers and greatly improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0027] Figure 2 It is a partial sectional view of the internal structure of the chassis of the present invention;

[0028] Figure 3 For the present invention Figure 2 A partial enlarged view of the middle A;

[0029] Figure 4 It is a partial cross-sectional view of the connection structure between the chassis and the turntable of the present invention;

[0030] Figure 5 It is a partial sectional view of the side of the welding box and the vertical plate connection structure of the present invention;

[0031] Figure 6 It is a partial sectional view of the internal structure of the welding box of the present invention.

[0032] Among them, 1. chassis; 2. foot; 3. vertical plate; 4. welding box; 5. laser module; 6. visual window; 7. air pipe; 8. air pressure sensor; 9. bracket; 10. shield; 11. turntable; 12. boss; 13. tooling; 14. movable plate; 15. first positioning column; 16. first fixed plate; 17. first cylinder; 18. push block; 19. push plate; 20. second positioning column; 21. second positioning hole; 22. Second fixed plate; 23. Motor; 24. Rotating shaft; 25. Gear; 26. Negative pressure pump; 27. Positioning groove; 28. First clearance hole; 29. ​​Second clearance hole; 30. First positioning hole; 31. Second cylinder; 32. Third positioning hole; 33. Laser welding head; 34. Upper baffle; 35. Lower baffle; 36. Docking hole; 37. Sliding cavity; 38. Closing plate; 39. Spring; 40. Sealing ring. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] Example:

[0035] like Figures 1 to 6 As shown, an embodiment of the present invention provides a TR component packaging device and method, including a TR component body, a chassis 1, a laser welding device, three groups of conveying devices and three groups of manipulators. The TR component body consists of a shell, a component arranged inside the shell and a cover plate arranged on the upper wall of the shell. The laser welding device consists of a laser module 5 and a laser welding head 33. The three groups of conveying devices are respectively arranged on the front side, right side and left side of the chassis 1. The front side, right side and left side of the chassis 1 are fixedly connected with a shield 10 through a bracket 9. The manipulator is arranged on the inner side wall of the shield 10. The lower wall of the chassis 1 is provided with four groups of feet 2 for support. The three groups of conveying devices and the three groups of manipulators are all shown in the figure, which are all common technologies on the market. The three groups of devices are respectively used to transport the shell, the cover plate and the packaged TR component body;

[0036] like Figure 1 , Figure 5As shown, in order to implement laser welding on the cover plate and the shell, a vertical plate 3 is fixedly connected to the rear wall of the chassis 1, and the upper end of the vertical plate 3 extends to the upper side of the chassis 1. A welding box 4 is fixedly connected to the front wall of the vertical plate 3 and close to the upper end of the vertical plate 3. The laser module 5 is fixedly connected to the upper wall of the welding box 4. A window is provided on the front wall of the welding box 4, and two layers of visual windows 6 are provided on the inner wall of the window. A welding cavity is provided inside the welding box 4, and a laser welding head 33 is provided on the inner upper wall of the welding cavity. The two layers of visual windows 6 are tempered glass and acrylic PMMA plates from front to back, respectively. The tempered glass is used to prevent external impact, and the acrylic PMMA plate is used to absorb strong light during laser welding, so that the internal welding process can be visible externally. The laser welding head 33 performs laser welding on the connection between the shell and the cover plate according to a preset trajectory;

[0037] like Figure 1 , Figure 2 As shown, in order to establish a vacuum environment inside the welding chamber of the welding box 4, a negative pressure forming structure for sucking the inside of the welding chamber into a vacuum is arranged between the right wall of the welding box 4 and the chassis 1, and the negative pressure forming structure includes a negative pressure pump 26, an air pipe 7 and an air pressure sensor 8. The air pipe 7 and the air pressure sensor 8 are fixedly connected to the right wall of the welding box 4 in a front-to-back distribution and are both connected to the inside of the welding chamber. The negative pressure pump 26 is fixedly connected to the lower inner wall of the chassis 1 and close to the rear wall. The end of the air pipe 7 away from the welding box 4 passes through the rear wall of the chassis 1 and extends into the inside of the chassis 1. The end of the air pipe 7 extending into the inside of the chassis 1 is fixedly connected to the inlet end of the negative pressure pump 26. The device also includes a common control device on the market for controlling the overall action of the device. The air pressure sensor 8 is used to detect the vacuum condition inside the welding chamber, and the vacuum environment inside the welding chamber is established by extracting air from the inside of the welding chamber through the air pipe 7 by the negative pressure pump 26;

[0038] like Figure 1 , Figure 5 as well as Figure 6As shown, in order to maintain the vacuum environment inside the welding chamber as much as possible, the upper baffle plate 34 and the lower baffle plate 35 are fixedly connected in sequence from top to bottom inside the welding chamber, and the upper baffle plate 34 and the lower baffle plate 35 are both located below the visual window 6 at horizontal heights. The inner walls of the upper baffle plate 34 and the lower baffle plate 35 are provided with docking holes 36 that penetrate up and down, and a sliding chamber 37 is formed between the opposite sides of the upper baffle plate 34 and the lower baffle plate 35. A closed structure for isolating the two groups of docking holes 36 to achieve sealing inside the welding chamber is provided between the vertical plate 3 and the sliding chamber 37. The closed structure includes a second cylinder 31 and a closing plate 38. The closing plate 38 is slidably connected to the inner wall of the sliding chamber 37, and the second cylinder 31 is fixedly connected to the sliding chamber 37. The rear wall of the vertical plate 3, the second cylinder 31 extends out of the shaft and sequentially penetrates the inner wall of the vertical plate 3, the rear wall of the welding box 4 and extends into the interior of the sliding chamber 37. The end of the second cylinder 31 extending into the interior of the sliding chamber 37 is fixedly connected to the rear wall of the closing plate 38. The closing plate 38 is provided with rubber layers on both the upper and lower sides. The two rubber layers are respectively slidably connected to the lower wall of the upper baffle 34 and the upper wall of the lower baffle 35. When the tooling 13 enters and exits the welding chamber, the interior of the welding chamber is sealed by the closing plate 38, so that the vacuum environment inside the welding chamber does not need to be completely re-established each time welding is performed. It only needs to suck away the air entering from the sliding chamber 37, which greatly saves the time of vacuum suction and improves work efficiency.

[0039] like Figure 5 , Figure 6 As shown, in order to keep the inside of the welding cavity in a sealed state when the boss 12 abuts against the lower baffle 35, a sealing groove is provided on the lower wall of the lower baffle 35 and located on the outer wall of the docking hole 36, and a sealing ring 40 is provided on the inner wall of the sealing groove and the inner wall of the two groups of docking holes 36. The sealing rings 40 of the inner wall of the two groups of docking holes 36 are not shown in the figure, and are mainly used to keep the inside of the welding cavity sealed when the tooling 13 is docked with the docking hole 36;

[0040] like Figure 5 , Figure 6 As shown, in order to ensure that the movable plate 14 can be smoothly separated from the welding box 4 after welding is completed, a plurality of mounting holes are arranged on the lower wall of the lower baffle plate 35 and outside the sealing groove, and the inner walls of the plurality of mounting holes are fixedly connected with springs 39 by screws. After welding is completed, the vacuum inside the welding chamber will absorb the boss 12 and the tooling 13. At this time, the elastic force of the plurality of springs 39 and the dead weight of the movable plate 14 and the boss 12 can contact this adsorption state, helping the movable plate 14 to reset downward after welding is completed;

[0041] like Figure 1 , Figure 2 as well as Figure 3As shown, in order to realize the automated operation of welding and feeding, a groove is provided on the upper wall of the chassis 1, and a turntable 11 is rotatably connected to the inner wall of the groove through a bearing, and a rotation driving structure for driving the turntable 11 to rotate is provided on the lower wall of the turntable 11 and inside the chassis 1, and the rotation driving structure includes a second fixed plate 22, a motor 23, a rotating shaft 24 and two sets of gears 25, the rotating shaft 24 is fixedly connected to the lower wall of the turntable 11 and is located at the center of the lower wall of the turntable 11, and one end of the rotating shaft 24 away from the turntable 11 is rotatably connected to the inner lower wall of the chassis 1 through a rotating seat, the second fixed plate 22 is fixedly connected between the inner upper wall and the inner lower wall of the chassis 1 and is located in front of the rotating shaft 24, the motor 23 is fixedly connected to the rear wall of the second fixed plate 22, and the two sets of gears 25 are respectively fixedly connected to the end of the motor 23 extending out of the shaft and the outer wall of the rotating shaft 24, and the outer walls of the two sets of gears 25 are meshed with each other, and the motor 23 drives the turntable 11 to rotate a quarter of a circle each time it rotates, that is, a process is moved between the three sets of conveying devices and the welding box 4;

[0042] like Figure 2 , Figure 3 as well as Figure 4As shown, in order to maintain the docking accuracy of each part when the first cylinder 17 is lifted and lowered, four groups of positioning grooves 27 are arranged on the upper wall of the turntable 11. The four groups of positioning grooves 27 are equally distributed on the circumference with the center of the turntable 11 as the center. The inner wall of the positioning groove 27 is slidably connected with a movable plate 14. The upper wall of the movable plate 14 is fixedly connected with a boss 12. The boss 12 is circular in top view and has a diameter smaller than the inner diameter of the welding cavity. A tool 13 for placing the TR component to be welded is fixedly connected to the upper wall of the boss 12 and in the center. The outer diameter of the tool 13 is matched with the inner diameter of the docking hole 36. The height of the tool 13 is higher than the distance between the upper wall of the upper baffle 34 and the lower wall of the lower baffle 35. Four groups of first positioning columns 15 are arranged on the upper wall of the movable plate 14 and located on the periphery of the boss 12. 15 are respectively close to the four corners of the upper wall of the movable plate 14, the ends of the four groups of first positioning columns 15 facing the movable plate 14 all penetrate the inner wall of the movable plate 14 and extend to the bottom of the movable plate 14, a first positioning structure for positioning between the movable plate 14 and the positioning groove 27 is arranged between the inner lower wall of the positioning groove 27 and the first positioning column 15, the inner lower wall of the four groups of positioning grooves 27 and the center position are all provided with a first clearance hole 28 that is through-through from top to bottom, the upper wall of the chassis 1 and close to the rear wall are provided with a second clearance hole 29 that is through-through from inside to outside, one group of the four groups of first clearance holes 28 close to the vertical plate 3 is opposite to the second clearance hole 29 in the upper and lower directions, the inner wall of the second clearance hole 29 is provided with a push plate 19 through the lifting drive structure, and a push plate 19 is arranged between the push plate 19 and the movable plate 14 A second positioning structure for connection and positioning is provided, and a third positioning structure for positioning when the tooling 13 is docked with the docking hole 36 is provided on the lower wall of the welding box 4. The first positioning structure includes four groups of first positioning holes 30, and the four groups of first positioning holes 30 are all arranged on the lower wall of the inner side of the positioning groove 27. The four groups of first positioning holes 30 are respectively opposite to the ends of the four groups of first positioning columns 15 extending below the movable plate 14. The second positioning structure includes four groups of second positioning columns 20 and second positioning holes 21. The four groups of second positioning columns 20 are all fixedly connected to the upper wall of the push plate 19. The four groups of second positioning holes 21 are all arranged on the lower wall of the movable plate 14 and the four groups of second positioning holes 21 are respectively opposite to the four groups of second positioning columns 20. The third positioning structure includes four groups of third positioning holes 32 The four groups of third positioning holes 32 are all arranged on the lower wall of the welding box 4 and are respectively opposite to the four groups of first positioning columns 15. The lifting drive structure includes a first fixed plate 16, a first cylinder 17 and a push block 18. The first fixed plate 16 is fixedly connected to the inner upper wall of the chassis 1 and is located at the lower mouth of the second clearance hole 29. The first cylinder 17 is fixedly connected to the lower wall of the first fixed plate 16. The end of the shaft of the first cylinder 17 extends through the inner wall of the first fixed plate 16 and extends into the second clearance hole 29. The push block 18 is fixedly connected to the end of the shaft of the first cylinder 17. The push plate 19 is fixedly connected to the upper wall of the push block 18. The first cylinder 17 can drive the movable plate 14 to rise and fall, and can send the tooling 13 into the welding chamber and drive the tooling 13 to reset to the initial position.The first positioning structure, the second positioning structure and the third positioning structure are all for accurate positioning when the first cylinder 17 drives the tooling 13 to rise and fall.

[0043] According to the above packaging method of a TR component packaging device, the packaging method comprises the following steps:

[0044] S1. Prepare the shell of the laminated components and the cover plate to be welded with the shell. The shell is conveyed by the conveying device on the front side of the chassis 1, and the cover plate is conveyed by the conveying device on the right side of the chassis 1. The conveying device on the left side of the chassis 1 is used to convey the TR component body after welding and packaging.

[0045] S2, the manipulator on the front side of the chassis 1 grabs the shell and puts it into the tooling 13, the motor 23 is started, and the turntable 11 is rotated counterclockwise by 90 degrees in a top view, and the manipulator on the right side of the chassis 1 grabs the cover plate and places it on the upper wall of the shell placed on the tooling 13 in the previous sequence, and the motor 23 is started again, and the turntable 11 is rotated counterclockwise by 90 degrees in a top view;

[0046] S3, the second cylinder 31 drives the closing plate 38 to close the two docking holes 36, the negative pressure pump 26 sucks the inside of the welding chamber into negative pressure through the air pipe 7, and the negative pressure degree is confirmed by the air pressure sensor 8. After reaching the preset vacuum degree, the first cylinder 17 extends the shaft, and the push plate 19 pushes the second positioning column 20 to insert into the second positioning hole 21 and connect with the movable plate 14. The first cylinder 17 extends the shaft continuously, and the movable plate 14 is positioned with the welding box 4 through the first positioning column 15 and the third positioning hole 32. After a positioning column 15 is inserted into the third positioning hole 32, the first cylinder 17 extends the shaft continuously. When the tool 13 enters the docking hole 36 on the inner wall of the lower baffle 35, the second cylinder 31 extends the shaft and retracts, driving the closing plate 38 to retreat. The first cylinder 17 extends the shaft continuously until the upper wall of the boss 12 abuts against the lower wall of the lower baffle 35. The upper wall of the boss 12 and the lower wall of the lower baffle 35 are sealed by the sealing ring 40. At this time, the tool 13 passes through the docking hole 36 on the inner wall of the upper baffle 34 and extends into the welding cavity.

[0047] S4, the vacuum condition inside the welding chamber is detected by the air pressure sensor 8, and the welding chamber is restored to a preset vacuum degree by the negative pressure pump 26, and the laser welding head 33 is started to perform laser welding on the connection between the shell and the cover plate under vacuum condition;

[0048] S5. After welding is completed, the first cylinder 17 extends its shaft and retracts. The boss 12 is separated from the lower baffle 35 by the squeezing of the spring 39. When the spring 39 is in a free state, the upper edge of the tooling 13 is separated from the docking hole 36 on the inner wall of the upper baffle 34. Part of the air inside the sliding cavity 37 enters the welding cavity. The movable plate 14 and the boss 12 slide downward by their own weight. When the tooling 13 enters the docking hole 36 inside the lower baffle 35, the second cylinder 31 extends its shaft and drives the closing plate 38 to move forward. The two sets of docking holes 36 are closed by the closing plate 38. The first cylinder 17 extends the shaft and continuously retracts until it retracts to the end of the lower stroke. The movable plate 14 is positioned and docked with the positioning groove 27 through the first positioning column 15 and the first positioning hole 30. After the movable plate 14 falls back into the positioning groove 27, the motor 23 is started again, driving the turntable 11 to rotate counterclockwise by 90 degrees in a top view, and the packaged TR component body is transferred to a position close to the left side of the chassis 1. The packaged TR component is grabbed by the robot on the left side of the chassis 1 and sent to the corresponding conveying device. The above process is repeated to achieve continuous operation.

[0049] Working principle: The two layers of visual windows 6 are tempered glass and acrylic PMMA plate from front to back respectively. The tempered glass is used to prevent external impact, and the acrylic PMMA plate is used to absorb strong light during laser welding, so that the internal welding process can be seen from the outside. The laser welding head 33 performs laser welding on the connection between the shell and the cover plate according to the preset trajectory. The air pressure sensor 8 is used to detect the vacuum condition inside the welding chamber. The vacuum environment inside the welding chamber is established by extracting air from the inside of the welding chamber through the air pipe 7 through the negative pressure pump 26. When the tooling 13 enters and exits the welding chamber, the inside of the welding chamber is sealed by the closing plate 38, so that the vacuum environment inside the welding chamber does not need to be completely re-established each time welding is performed, and only the air entering from the sliding chamber 37 needs to be sucked away. , which greatly saves the time of vacuum suction and improves work efficiency. The sealing ring 40 is used to keep the sealing inside the welding chamber when the tooling 13 is docked with the docking hole 36. The adsorption state can be released through the elastic force of multiple sets of springs 39 and the deadweight of the movable plate 14 and the boss 12, helping the movable plate 14 to reset downward after welding. Each time the motor 23 rotates, it drives the turntable 11 to rotate a quarter of a turn, that is, it moves a process between the three sets of conveying devices and the welding box 4. The first cylinder 17 can drive the movable plate 14 to rise and fall, and can send the tooling 13 into the welding chamber and drive the tooling 13 to reset to the initial position. The first positioning structure, the second positioning structure and the third positioning structure are all for accurate positioning when the first cylinder 17 drives the tooling 13 to rise and fall.

[0050] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A TR component packaging device, characterized in that: The invention comprises a TR component body, a chassis (1), a laser welding device, three groups of conveying devices and three groups of manipulators. The TR component body is composed of a shell, a component arranged inside the shell and a cover plate arranged on the upper wall of the shell. The laser welding device is composed of a laser module (5) and a laser welding head (33). The three groups of conveying devices are arranged on the front side, right side and left side of the chassis (1) respectively. The front side, right side and left side of the chassis (1) are fixedly connected to a shield (10) via a bracket (9). The manipulator is arranged on the inner side wall of the shield (10). The lower wall of the chassis (1) is provided with four groups of feet (2) for support. The rear wall of the chassis (1) is fixedly connected to a vertical plate (3). The upper end of the vertical plate (3) extends toward the upper side of the chassis (1). A welding box (4) is fixedly connected to the front wall of the vertical plate (3) and near the upper end of the vertical plate (3); the laser module (5) is fixedly connected to the upper wall of the welding box (4); the front wall of the welding box (4) is provided with a window; the inner wall of the window is provided with two layers of visual windows (6); a welding chamber is provided inside the welding box (4); the laser welding head (33) is provided on the inner upper wall of the welding chamber; a negative pressure forming structure for sucking the inside of the welding chamber into a vacuum is provided between the right wall of the welding box (4) and the chassis (1); an upper baffle (34) and a lower baffle (35) are fixedly connected to the inside of the welding chamber from top to bottom in sequence; the upper baffle (34) and the lower baffle (35) are both located below the visual window (6) at horizontal heights; the upper baffle (34) and the lower baffle (35) are arranged at a height of 1 / 2 m. The inner wall of the plate (35) is provided with a butt joint hole (36) which is through-through from top to bottom, a sliding cavity (37) is formed between the opposite sides of the upper baffle plate (34) and the lower baffle plate (35), a closed structure for isolating the two groups of butt joint holes (36) to achieve sealing inside the welding cavity is provided between the vertical plate (3) and the sliding cavity (37), a sealing groove is provided on the lower wall of the lower baffle plate (35) and located on the outer wall of the butt joint hole (36), a sealing ring (40) is provided on the inner wall of the sealing groove and the inner wall of the two groups of butt joint holes (36), a plurality of mounting holes are provided on the lower wall of the lower baffle plate (35) and located on the outer side of the sealing groove, and the inner walls of the plurality of mounting holes are fixedly connected with springs (39) by screws, and a groove is provided on the upper wall of the chassis (1), the inner wall of the groove is provided with a plurality of mounting holes, and the inner walls of the plurality of mounting holes are fixedly connected with springs (39) by screws. A rotating disk (11) is rotatably connected to the wall via a bearing, a rotating drive structure for driving the rotating disk (11) to rotate is arranged on the lower wall of the rotating disk (11) and inside the chassis (1), and the upper wall of the rotating disk (11) is provided with four groups of positioning grooves (27), and the four groups of positioning grooves (27) are equally distributed on the circumference with the center of the rotating disk (11) as the center of the circle, and a movable plate (14) is slidably connected to the inner wall of the positioning groove (27), and a boss (12) is fixedly connected to the upper wall of the movable plate (14), and the boss (12) is circular in top view and has a diameter smaller than the inner diameter of the welding cavity, and a tool (13) for placing the TR component to be welded is fixedly connected to the upper wall of the boss (12) and in the center, and the outer diameter of the tool (13) is adapted to the inner diameter of the docking hole (36).The height of the tooling (13) is higher than the distance between the upper wall of the upper baffle (34) and the lower wall of the lower baffle (35). Four groups of first positioning columns (15) are arranged on the upper wall of the movable plate (14) and located on the periphery of the boss (12). The four groups of first positioning columns (15) are respectively close to the four corners of the upper wall of the movable plate (14). The ends of the four groups of first positioning columns (15) facing the movable plate (14) all penetrate the inner wall of the movable plate (14) and extend below the movable plate (14). A first positioning structure for positioning the movable plate (14) and the positioning groove (27) is arranged between the inner lower wall of the positioning groove (27) and the first positioning column (15). The inner lower wall of the four groups of positioning grooves (27) and the center position are all provided with a vertically penetrating A first clearance hole (28) is provided on the upper wall of the chassis (1) and near the rear wall, and a second clearance hole (29) is provided that is through-and-through, and one group of the four groups of the first clearance holes (28) near the vertical plate (3) is vertically opposite to the second clearance hole (29), and a push plate (19) is provided on the inner side wall of the second clearance hole (29) through a lifting drive structure, and a second positioning structure for connection and positioning is provided between the push plate (19) and the movable plate (14), and a third positioning structure is provided on the lower wall of the welding box (4), and the third positioning structure includes four groups of third positioning holes (32), and the four groups of the third positioning holes (32) are all provided on the lower wall of the welding box (4) and are vertically opposite to the upper ends of the four groups of first positioning columns (15).

2. A TR component packaging device according to claim 1, characterized in that: The negative pressure forming structure comprises a negative pressure pump (26), an air pipe (7) and an air pressure sensor (8); the air pipe (7) and the air pressure sensor (8) are fixedly connected to the right wall of the welding box (4) in a front-to-back distribution and are both connected to the inside of the welding chamber; the negative pressure pump (26) is fixedly connected to the lower inner wall of the chassis (1) and close to the rear wall; the end of the air pipe (7) away from the welding box (4) passes through the rear wall of the chassis (1) and extends into the inside of the chassis (1); the end of the air pipe (7) extending into the inside of the chassis (1) is fixedly connected to the inlet end of the negative pressure pump (26).

3. A TR component packaging device according to claim 2, characterized in that: The closed structure comprises a second cylinder (31) and a closed plate (38). The closed plate (38) is slidably connected to the inner wall of the sliding cavity (37). The second cylinder (31) is fixedly connected to the rear wall of the vertical plate (3). The shaft of the second cylinder (31) sequentially penetrates the inner wall of the vertical plate (3) and the rear wall of the welding box (4) and extends into the sliding cavity (37). One end of the second cylinder (31) extending into the sliding cavity (37) is fixedly connected to the rear wall of the closed plate (38). Rubber layers are provided on both upper and lower sides of the closed plate (38). The rubber layers at two locations are slidably connected to the lower wall of the upper baffle plate (34) and the upper wall of the lower baffle plate (35) respectively.

4. A TR component packaging device according to claim 3, characterized in that: The rotary drive structure comprises a second fixed plate (22), a motor (23), a rotating shaft (24) and two groups of gears (25); the rotating shaft (24) is fixedly connected to the lower wall of the turntable (11) and is located at the center of the lower wall of the turntable (11); one end of the rotating shaft (24) away from the turntable (11) is rotatably connected to the inner lower wall of the chassis (1) through a rotating seat; the second fixed plate (22) is fixedly connected between the inner upper wall and the inner lower wall of the chassis (1) and is located in front of the rotating shaft (24); the motor (23) is fixedly connected to the rear wall of the second fixed plate (22); the two groups of gears (25) are respectively fixedly connected to the end of the motor (23) protruding from the shaft and the outer wall of the rotating shaft (24); the outer walls of the two groups of gears (25) are meshed with each other.

5. A TR component packaging device according to claim 4, characterized in that: The first positioning structure comprises four groups of first positioning holes (30), the four groups of first positioning holes (30) are all arranged on the inner lower wall of the positioning groove (27), and the four groups of first positioning holes (30) are respectively opposite to one end of the four groups of first positioning columns (15) extending below the movable plate (14) in the upper and lower directions.

6. A TR component packaging device according to claim 5, characterized in that: The second positioning structure comprises four groups of second positioning columns (20) and second positioning holes (21), the four groups of second positioning columns (20) are all fixedly connected to the upper wall of the push plate (19), the four groups of second positioning holes (21) are all arranged on the lower wall of the movable plate (14), and the four groups of second positioning holes (21) are respectively opposite to the four groups of second positioning columns (20) in upper and lower directions.

7. A TR component packaging device according to claim 6, characterized in that: The lifting drive structure comprises a first fixed plate (16), a first cylinder (17) and a push block (18); the first fixed plate (16) is fixedly connected to the inner upper wall of the chassis (1) and is located at the lower mouth of the second clearance hole (29); the first cylinder (17) is fixedly connected to the lower wall of the first fixed plate (16); the protruding shaft end of the first cylinder (17) passes through the inner wall of the first fixed plate (16) and extends into the second clearance hole (29); the push block (18) is fixedly connected to the protruding shaft end of the first cylinder (17); and the push plate (19) is fixedly connected to the upper wall of the push block (18).

8. A TR component packaging device according to claim 7, characterized in that: The two layers of the viewing window (6) are respectively tempered glass and an acrylic PMMA plate from front to back.

9. The packaging method of a TR component packaging device according to claim 8, characterized in that: The packaging method comprises the following steps: S1. Prepare a shell with laminated components and a cover plate to be welded to the shell. The shell is transported by a conveying device on the front side of the chassis (1). The cover plate is transported by a conveying device on the right side of the chassis (1). The conveying device on the left side of the chassis (1) is used to transport the TR component body after welding and packaging. S2, the manipulator on the front side of the chassis (1) grabs the shell and sends it to the tooling (13), the motor (23) is started, and the turntable (11) is rotated counterclockwise by 90 degrees in a top view, the manipulator on the right side of the chassis (1) grabs the cover plate and places it on the upper wall of the shell placed on the tooling (13) in the previous sequence, the motor (23) is started again, and the turntable (11) is rotated counterclockwise by 90 degrees in a top view; S3, the second air cylinder (31) drives the sealing plate (38) to seal the two docking holes (36), the negative pressure pump (26) sucks the inside of the welding chamber into negative pressure through the air pipe (7), and the negative pressure degree is confirmed by the air pressure sensor (8). After reaching the preset vacuum degree, the first air cylinder (17) extends the extension shaft, the push plate (19) pushes the second positioning column (20) to be inserted into the second positioning hole (21) and connected to the movable plate (14), the first air cylinder (17) extends the extension shaft continuously, the movable plate (14) is positioned with the welding box (4) through the first positioning column (15) and the third positioning hole (32), and the first After the positioning column (15) is inserted into the third positioning hole (32), the extension shaft of the first cylinder (17) continues to extend. When the tooling (13) enters the docking hole (36) on the inner wall of the lower baffle (35), the extension shaft of the second cylinder (31) retracts, driving the closing plate (38) to retreat. The extension shaft of the first cylinder (17) continues to extend until the upper wall of the boss (12) abuts against the lower wall of the lower baffle (35). The upper wall of the boss (12) and the lower wall of the lower baffle (35) are sealed by a sealing ring (40). At this time, the tooling (13) penetrates the docking hole (36) on the inner wall of the upper baffle (34) and extends into the welding cavity. S4, detecting the vacuum condition inside the welding chamber at this time by means of the air pressure sensor (8), and restoring the welding chamber to a preset vacuum degree by means of the negative pressure pump (26), starting the laser welding head (33), and performing laser welding on the connection between the shell and the cover plate under a vacuum state; S5. After welding is completed, the first cylinder (17) extends the shaft and retracts, and the boss (12) is separated from the lower baffle (35) by the squeezing of the spring (39). When the spring (39) is in a free state, the upper edge of the tooling (13) is separated from the docking hole (36) on the inner wall of the upper baffle (34), and part of the air inside the sliding chamber (37) enters the welding chamber. The movable plate (14) and the boss (12) slide downward by their own weight. When the tooling (13) enters the docking hole (36) inside the lower baffle (35), the second cylinder (31) extends the shaft and drives the closing plate (38) to move forward, so that the two sets of docking holes (36) are connected through the closing plate (38). 6), the first cylinder (17) extends and retracts its shaft until it retracts to the end of the lower stroke, the movable plate (14) and the positioning groove (27) are positioned and docked via the first positioning column (15) and the first positioning hole (30), after the movable plate (14) falls back into the positioning groove (27), the motor (23) is started again, driving the turntable (11) to rotate counterclockwise by ninety degrees in a top view, transferring the packaged TR component body to a position close to the left side of the chassis (1), and the packaged TR component is grabbed by the robot on the left side of the chassis (1) and sent to the corresponding conveying device, and the above process is repeated to achieve continuous operation.

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