Full-automatic PIN welding equipment based on multi-axis linkage

Abstract

The invention discloses full-automatic PIN welding equipment based on multi-axis linkage, and relates to the technical field of welding equipment, the full-automatic PIN welding equipment comprises a welding machine table, a feeding machine table is arranged on one side of the welding machine table, a discharging machine table is arranged on the other side of the welding machine table, and a conveying device for conveying is arranged at the top of the feeding machine table, the top of the welding machine table and the top of the discharging machine table; the welding equipment is fixedly connected to the top of the welding machine table, a tray for containing a base plate is arranged on the outer side of the conveying device, an upper clamp is fixedly connected to the top of the welding machine table, and the unfolding ranges of the pressure sensors on the tops of the two supporting barrel frames are consistent, so that two sets of data can be compared; according to the method, the pressure data at the position where the PIN is not welded and the pressure data during welding are acquired, so that the bonding degree of welding is judged more visually, a double-metering redundancy design is adopted, the reliability of bonding detection is improved through data cross validation of two groups of independent sensors, and misjudgment caused by failure of a single-point sensor is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of welding equipment, and particularly to a fully automatic PIN needle welding equipment based on multi-axis linkage. Background Art

[0002] The fully automatic PIN needle welding equipment is a special equipment integrating precision machinery, automation control and sensing technology, mainly used for the PIN needle welding process of electronic components (such as high-frequency heads, water valve coils, etc.), to achieve efficient and high-precision automated production, by grasping the PIN needles and welding them to the substrate.

[0003] Referring to a stator terminal pin welding equipment disclosed in a patent application with a publication number of CN116423141A, which includes a frame and a stator fixing fixture. The stator fixing fixture is arranged at the lower part of the frame, and a welding mechanism is arranged at the upper part of the frame. The stator fixing fixture includes a fixing shell, the fixing shell is arranged below the welding mechanism, the fixing shell is rotatably connected to the frame, a fixing mechanism for fixing the workpiece position and a material taking mechanism for conveniently taking out the workpiece from the fixing mechanism are arranged at the upper part of the fixing shell, and an intermittent rotation mechanism for controlling the intermittent rotation of the fixing shell is arranged at the bottom of the fixing shell. By the combined use of the fixing mechanism, the material taking mechanism and the intermittent rotation mechanism, the position of the workpiece can be fixed, and during the welding process, the rotation angle of the workpiece can be automatically adjusted to perform welding operations on different positions of the workpiece, and it is convenient for the staff to take out the workpiece from the fixing shell during the process of replacing the workpiece.

[0004] It can be known from the above solution that when the existing substrate is welded to the PIN needle, the substrate needs to be fixed. However, during the docking process of the substrate and the PIN needle, it is often impossible to know whether they are closely fitted. After the welding is completed and detected by the detection equipment, if there is a virtual weld caused by the inability to be closely fitted, the product needs to be reworked. But if the PIN needle is pressed by gravity through the grasping equipment to make the PIN needle fit with the substrate, it is easy to cause damage to the substrate or the PIN needle.

[0005] Therefore, it is necessary to provide a fully automatic PIN needle welding equipment based on multi-axis linkage to solve the above technical problems. Summary of the Invention

[0006] The purpose of the present invention is to provide a fully automatic PIN needle welding equipment based on multi-axis linkage to solve the problem of the defects of the prior art proposed in the above background art.

[0007] Based on the above idea, the present invention provides the following technical solutions: including a welding machine table, a loading machine table is arranged on one side of the welding machine table, and an unloading machine table is arranged on the other side of the welding machine table. A conveying device for conveying is provided on the tops of the loading machine table, the welding machine table and the unloading machine table. It further includes: A welding device, the welding device is fixedly connected to the top of the welding machine table. A tray for placing a substrate is arranged outside the conveying device, and an upper fixture is fixedly connected to the top of the welding machine table. An electric telescopic cylinder is arranged inside the welding machine table, and a jacking frame is fixedly connected to the telescopic end of the electric telescopic cylinder for jacking up the substrate to contact the bottom of the upper fixture to fix the substrate; A support plate is arranged inside the jacking frame, two support cylinder frames are fixedly connected to the top of the support plate, the two support cylinder frames are symmetrically arranged, and a plurality of pressure sensors in contact with the bottom of the substrate are arranged on the tops of the two support cylinder frames for detecting the pressure when the PIN pins are docked with the substrate. An adjusting component for adjusting the distance between a plurality of pressure sensors is arranged inside the support cylinder frame; Support components are arranged on the tops of the two support cylinder frames for supporting the substrate during the welding of the PIN pin substrate.

[0008] As a further scheme of the present invention: a plurality of sliding grooves are opened on the top of the support cylinder frame, the plurality of sliding grooves are arranged in a circular shape around the center of the support cylinder frame, and sliding seats are fixedly connected to the bottoms of the plurality of pressure sensors. The plurality of sliding seats are respectively slidably connected inside the plurality of sliding grooves, and the plurality of pressure sensors form a circular surround.

[0009] As a further scheme of the present invention: the adjusting component includes a rotating disk, the rotating disk is rotatably connected inside the support cylinder frame, and a plurality of arc grooves are opened on the surface of the rotating disk. The plurality of arc grooves correspond to the plurality of sliding grooves one by one, and the plurality of arc grooves are arranged in a circular shape around the center of the support cylinder frame.

[0010] As a further scheme of the present invention: the adjusting component further includes a plurality of driving rods, the plurality of driving rods are respectively fixedly connected to the bottoms of the plurality of pressure sensors, and one end of the driving rod extends into the arc groove opened outside the rotating disk and is slidably connected to the arc groove. An internal thread cylinder is fixedly connected to the bottom of the rotating disk, and the internal thread cylinder sequentially penetrates through the support cylinder frame and the support plate and is rotatably connected to the support cylinder frame and the support plate.

[0011] As a further scheme of the present invention: the support component includes a fixed cylinder, the fixed cylinder is fixedly connected to the inner top of the support cylinder frame and is located at the center position of the support cylinder frame. A through groove is opened on the top of the fixed cylinder, a sealing capsule is arranged inside the fixed cylinder, the sealing capsule is filled with liquid, and a part of the sealing capsule extends through the through groove to the top of the fixed cylinder for supporting the bottom of the substrate during the welding of the PIN pins. A push disk is arranged inside the fixed cylinder, the push disk is fixedly connected to the bottom of the sealing capsule, and an ejecting member is arranged at the bottom of the push disk.

[0012] As a further solution of the present invention: the ejector member includes a plurality of telescopic rods, and both ends of the plurality of telescopic rods are fixedly connected to the pushing disk and the inner bottom end of the fixed cylinder respectively. A threaded rod is fixedly connected to the bottom of the pushing disk. The threaded rod penetrates through the fixed cylinder and extends into the inner threaded cylinder, and the threaded rod is threadedly connected to the inner threaded cylinder.

[0013] As a further solution of the present invention: a plurality of spray heads are fixedly connected to the top of the support cylinder frame, a plurality of spraying devices are fixedly connected to the inner top end of the support cylinder frame, the spraying devices are communicated with the spray heads through branch pipes. A touch switch is fixedly connected to the bottom of the support cylinder frame, the touch switch is electrically connected to the plurality of spraying devices. A rotating ring is fixedly connected to the outer side of the inner threaded cylinder, and a plurality of extrusion blocks are arranged on the outer side of the rotating ring. When the rotating ring rotates with the inner threaded cylinder, the extrusion blocks trigger the touch switch, so that the plurality of spraying devices spray the cooling agent through the spray heads.

[0014] As a further solution of the present invention: a moving seat is arranged inside the lifting frame, a rotating motor is fixedly connected to the top of the moving seat, and the output shaft of the rotating motor is fixedly connected to the support plate. A driving module for driving the moving seat to move along the X-Y axis is arranged inside the lifting frame.

[0015] As a further solution of the present invention: transmission wheels are fixedly connected to the outer sides of both inner threaded cylinders, and the two transmission wheels are connected by a belt. And a driving motor is fixedly connected to the bottom of the support plate through a support plate, and the output shaft of the driving motor is fixedly connected to one of the inner threaded cylinders.

[0016] As a further solution of the present invention: a feeding mechanism for substrate conveying is arranged on the top of the feeding machine table, a blanking mechanism for substrate transfer is arranged on the top of the blanking machine table, and a cleaning mechanism is arranged on one side of the top of the blanking machine table.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. Through a plurality of pressure sensors, the pressures at multiple points at the contact between the PIN pins and the substrate can be known. The plurality of pressure sensors distributed in a circular array form a distributed pressure monitoring network, which can collect the pressure data in all directions on the substrate contact surface in real time. If the measured values of all pressure sensors are within the set threshold range, it is determined that the PIN pins are uniformly attached to the substrate in the whole area, and the welding instruction is triggered. If there is local pressure abnormality in the pressure sensors, it is determined that the attachment fails, and the system immediately pauses welding and starts a compensation mechanism to adjust the PIN pins, so as to ensure that the PIN pins are completely attached. It can be found in the early stage of welding, integrating the attachment detection and error correction in the welding preparation stage, intercepting the risk of false soldering in advance, and avoiding rework in the subsequent processes.

[0018] 2. Multiple sliding seats drive the fixedly connected pressure sensors to move synchronously. When the diameter of the PIN needle increases, the adjusting component needs to expand the distribution diameter of the pressure sensors so that the sensor array always maintains uniform contact with the outer edge of the PIN needle, avoiding the risk of false soldering caused by the offset of the contact surface.

[0019] 3. The ranges in which the pressure sensors at the tops of the two support cylinder frames are deployed are the same, so that two sets of data can be compared, namely the pressure data at the un-soldered PIN needle positions and the pressure data during soldering, thereby more intuitively judging the fitting degree of the soldering. A dual-measurement redundancy design is adopted, and the data of two independent sensors are cross-validated to improve the reliability of the fitting detection and avoid misjudgment caused by the failure of a single-point sensor.

[0020] 4. A telescopic rod is fixedly connected between the push plate and the inner bottom end of the fixed cylinder. Further, the sealing capsule rises under the action of the threaded rod, causing the push plate to push the sealing capsule to rise. Due to the presence of the liquid inside the sealing capsule, the contact surface between the sealing capsule and the substrate is increased, and automatic adjustment is carried out in cooperation with the adjustment of the pressure sensor, thus achieving the effect of automatic adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described below with reference to the drawings and embodiments.

[0022] Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic diagram of the tray structure of the present invention; Figure 3 is a schematic diagram of the upper fixture structure of the present invention; Figure 4 is a schematic diagram of the lifting frame structure of the present invention; Figure 5 is a schematic diagram of the moving seat structure of the present invention; Figure 6 is a schematic diagram of the support plate structure of the present invention; Figure 7 is a schematic diagram of the support cylinder frame structure of the present invention; Figure 8 is a schematic diagram of the sectional structure of the fixed cylinder of the present invention; Figure 9 is a schematic diagram of the sealing capsule structure of the present invention; Figure 10 is of the present invention Figure 9 magnified schematic diagram of part A; Figure 11 is a schematic diagram of the PIN needle of the present invention.

[0023] In the figure: 1. Loading machine platform; 11. Loading mechanism; 2. Welding machine platform; 201. Welding equipment; 202. Upper fixture; 3. Unloading machine platform; 301. Unloading mechanism; 302. Cleaning mechanism; 4. Conveying device; 5. Tray; 6. Electric telescopic cylinder; 601. Lifting frame; 602. Moving seat; 7. Rotary motor; 701. Support plate; 8. Support cylinder frame; 801. Sliding groove; 802. Sliding seat; 803. Pressure sensor; 804. Rotating disc; 805. Arc groove; 806. Driving rod; 807. Internal thread cylinder; 9. Fixed cylinder; 900. Pushing disc; 901. Sealing capsule; 902. Threaded rod; 903. Telescopic rod; 10. Sprayer; 101. Spraying device; 102. Rotating ring; 103. Extrusion block; 104. Touch switch; 111. Driving motor; 112. Transmission wheel. Detailed implementation mode

[0024] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention.

[0025] In the description of the present invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inner", "periphery", etc. indicating orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0026] As Figures 1 to 11 shown, a fully automatic welding device for PIN pins based on multi-axis linkage includes the following embodiments: Embodiment 1: As Figures 1 to 2 shown, it includes a welding machine platform 2. A loading machine platform 1 is arranged on one side of the welding machine platform 2, and an unloading machine platform 3 is arranged on the other side of the welding machine platform 2. A conveying device 4 for conveying is arranged on the tops of the loading machine platform 1, the welding machine platform 2, and the unloading machine platform 3. The conveying device 4 usually adopts a combination of a conveyor belt and a transmission wheel to form a conveying structure, which is the prior art. A loading mechanism 11 for substrate conveying is arranged on the top of the loading machine platform 1, and an unloading mechanism 301 for substrate transfer is arranged on the top of the unloading machine platform 3. And a cleaning mechanism 302 is arranged on one side of the top of the unloading machine platform 3. The cleaning mechanism 302 blows and chips the substrate after welding is completed. It also includes: Welding equipment 201, the welding equipment 201 is fixedly connected to the top of the welding machine platform 2. A tray 5 for placing the substrate is arranged outside the conveying device 4, and an upper fixture 202 is fixedly connected to the top of the welding machine platform 2. An electric telescopic cylinder 6 is arranged inside the welding machine platform 2. The telescopic end of the electric telescopic cylinder 6 is fixedly connected to a lifting frame 601 for jacking up the substrate to contact the bottom of the upper fixture 202 to fix the substrate.

[0027] In specific implementation, when the feeding mechanism 11 on the top of the feeding machine table 1 conveys the substrate, the feeding mechanism 11 in this solution can use a pneumatic clamp and an electric telescopic rod to cooperate, clamp the substrate, and move it through the electric telescopic rod, and place the substrate on the top of the tray 5, and then convey it through the conveying device 4. For the feeding mechanism 11, a robotic arm can also be used for grasping and placing. When the tray 5 moves into the welding device 201, at this time, by starting the electric telescopic cylinder 6 inside the welding machine table 2, the electric telescopic cylinder 6 drives the lifting frame 601 to move upward. At this time, the top edge of the lifting frame 601 contacts the bottom of the substrate, jacks up the substrate, and contacts the bottom of the upper clamp 202 fixedly connected to the top of the welding device 20. The substrate is clamped by the lifting frame 601 and the upper clamp 202, so as to fix the substrate. At this time, the welding device 201 is used to dock the PIN pins with the substrate, and welding is carried out after the docking is completed. The docking of the substrate and the PIN pins can use an existing robotic arm to cooperate with a suction head for processing, which is an existing technology. When the PIN pins contact the substrate, the PIN pins need to be fully attached to the substrate. If there is a gap, it will cause virtual soldering of the PIN pins and result in defective products, and it is impossible to accurately know whether they are fully attached during the docking process of the PIN pins and the substrate.

[0028] In this solution, as Figures 4 to 5 shown, a support plate 701 is arranged inside the lifting frame 601. Two support cylinder frames 8 are fixedly connected to the top of the support plate 701. The two support cylinder frames 8 are symmetrically arranged, and a plurality of pressure sensors 803 in contact with the bottom of the substrate are arranged on the top of each of the two support cylinder frames 8, which are used to detect the pressure during the docking of the PIN pins and the substrate. An adjustment component for adjusting the distance between the plurality of pressure sensors 803 is arranged inside the support cylinder frame 8; A moving seat 602 is arranged inside the lifting frame 601. A rotating motor 7 is fixedly connected to the top of the moving seat 602. The output shaft of the rotating motor 7 is fixedly connected to the support plate 701. A driving module for driving the moving seat 602 to move along the X-Y axis is arranged inside the lifting frame 601. The driving module can be composed of two sets of lead screw modules in cooperation.

[0029] Support components are arranged on the top of each of the two support cylinder frames 8, which are used to support the PIN pin substrate during welding.

[0030] In specific implementation, aiming at the problem that it is impossible to accurately know whether the PIN pins are fully attached during the docking process with the substrate, in this solution, a support plate 701 is arranged inside the lifting frame 601, and a driving module is set to drive the moving seat 602 to move inside the lifting frame 601. It should be noted that when the bottom of the lifting frame 601 contacts the bottom of the substrate, multiple pressure sensors 803 are all in contact with the bottom of the substrate. By means of the driving module, the center of one of the support cylinder frames 8 coincides with the center of the position of the PIN pin to be welded. When the PIN pin is pressed onto the top of the substrate, multiple pressure sensors 803 are arranged in a ring around the substrate position of the PIN pin. At this time, the multiple point pressures at the contact between the PIN pin and the substrate can be known through the multiple pressure sensors 803. The multiple pressure sensors 803 distributed in a ring array form a distributed pressure monitoring network, which real-time collects the pressure data in all directions on the contact surface of the substrate. If the measured values of all pressure sensors 803 are within the set threshold range, such as a deviation of ±5%, it is determined that the PIN pin and the substrate are uniformly attached throughout the area, and the welding instruction is triggered. If there is local pressure abnormality in the pressure sensors 803, such as the single-point pressure being lower than the threshold or the pressure gradient between adjacent sensors exceeding the tolerance, it is determined that the attachment fails. The system immediately suspends welding and starts the compensation mechanism to adjust the PIN pin, so as to ensure that the PIN pin is fully attached. It can be found in the early stage of welding, integrating the attachment detection and error correction into the welding preparation stage, intercepting the risk of false soldering in advance and avoiding rework in the subsequent processes.

[0031] Embodiment 2: As Figures 6 to 8 shown, a plurality of sliding grooves 801 are formed at the top of the support cylinder frame 8. The plurality of sliding grooves 801 are arranged in a ring around the center of the support cylinder frame 8, and the bottoms of the plurality of pressure sensors 803 are fixedly connected with sliding seats 802 respectively. The plurality of sliding seats 802 are respectively slidably connected inside the plurality of sliding grooves 801, and the plurality of pressure sensors 803 form a circular surround.

[0032] The adjusting assembly includes a rotating disc 804. The rotating disc 804 is rotatably connected inside the support cylinder frame 8, and a plurality of arc grooves 805 are formed on the surface of the rotating disc 804. The plurality of arc grooves 805 correspond to the plurality of sliding grooves 801 one by one, and the plurality of arc grooves 805 are arranged in a ring around the center of the support cylinder frame 8.

[0033] The adjusting assembly further includes a plurality of driving rods 806. The plurality of driving rods 806 are respectively fixedly connected to the bottoms of the plurality of pressure sensors 803, and one end of the driving rod 806 extends into the arc groove 805 formed outside the rotating disc 804 and is slidably connected with the arc groove 805. An internally threaded cylinder 807 is fixedly connected to the bottom of the rotating disc 804. The internally threaded cylinder 807 sequentially penetrates through the support cylinder frame 8 and the support plate 701 and is rotatably connected with the support cylinder frame 8 and the support plate 701.

[0034] In specific implementation, for PIN pins of different sizes, such as Figure 11 shown in, the sizes of the PIN pins are different, and the contact surfaces with the substrate are also different. Therefore, in this solution, by rotating the internal thread cylinder 807, the internal thread cylinder 807 drives the fixedly connected rotating disk 804 to rotate. When the rotating disk 804 rotates, through the arc-shaped groove 805 opened on the outer side of the rotating disk 804, the driving rod 806 arranged inside it drives the sliding seat 802 to slide inside the sliding groove 801, so that a plurality of sliding seats 802 drive the fixedly connected pressure sensor 803 to move synchronously. When the diameter of the PIN pin increases, the adjusting assembly needs to expand the distribution diameter of the pressure sensor 803, so that the sensor array always maintains uniform contact with the outer edge of the PIN pin, avoiding the risk of false soldering caused by the offset of the contact surface. In this solution, as Figure 6 shown, both outer sides of the two internal thread cylinders 807 are fixedly connected with transmission wheels 112. The two transmission wheels 112 are connected by a belt drive, and the bottom of the support plate 701 is fixedly connected with a drive motor 111 through a support plate. The output shaft of the drive motor 111 is fixedly connected with one of the internal thread cylinders 807.

[0035] In specific implementation, in this solution, by setting two support cylinder frames 8, when the internal thread cylinder 807 needs to rotate, through the belt and the feeding mechanism 11 for transmission, the two internal thread cylinders 807 rotate synchronously. Furthermore, the pressure sensors 803 at the tops of the two support cylinder frames 8 move synchronously. The expanded ranges of the pressure sensors 803 at the tops of the two support cylinder frames 8 are the same, so that two groups of data can be compared, the pressure data at the un-welded PIN pin position and the pressure data during welding, so as to more intuitively judge the fitting degree of welding. Adopting a dual-measurement redundancy design and referring to the principle of the split-dose dual-measurement weighing device, through the cross-verification of the data of two groups of independent sensors, the reliability of the fitting detection is improved, and the misjudgment caused by the failure of a single-point sensor is avoided. Embodiment 3: As Figures 7 to 9 shown, the support assembly includes a fixed cylinder 9. The fixed cylinder 9 is fixedly connected to the inner top of the support cylinder frame 8 and is located at the center position of the support cylinder frame 8. A through groove is opened at the top of the fixed cylinder 9. A sealing capsule 901 is arranged inside the fixed cylinder 9. The sealing capsule 901 is filled with liquid, and a part of the sealing capsule 901 extends through the through groove to the top of the fixed cylinder 9 for supporting the bottom of the substrate during PIN pin welding. A pushing disk 900 is arranged inside the fixed cylinder 9. The pushing disk 900 is fixedly connected to the bottom of the sealing capsule 901. A jacking member is arranged at the bottom of the pushing disk 900.

[0036] In specific implementation, when multiple pressure sensors 803 are in contact with the bottom of the substrate, there is a lack of support in the center range of the substrate at the PIN needle welding point. Therefore, in this solution, a sealing capsule 901 is arranged inside the fixed tube 9. The sealing capsule 901 uses a flexible composite film material to encapsulate a phase change medium such as a deionized water / ethylene glycol mixture. During the lifting process of the support tube frame 8, the axial constraint in the fixed tube 9 guides the sealing capsule 901 to deform directionally along the through groove to form a contoured support surface that matches the curved surface of the bottom of the substrate, thereby supporting and protecting the bottom of the welded substrate. At the same time, the point support constrains the heat dissipation path to the vicinity of the support point, so that the temperature field in the welding area is more uniform. At the same time, there is liquid inside the sealing capsule 901. During the welding process, the liquid can also absorb heat, thereby improving the heat dissipation effect.

[0037] In this embodiment, the ejection member includes a plurality of telescopic rods 903, both ends of which are fixedly connected to the pushing plate 900 and the bottom end of the fixed tube 9 respectively. A threaded rod 902 is fixedly connected to the bottom of the pushing plate 900. The threaded rod 902 penetrates the fixed tube 9 and extends to the inside of the internal threaded tube 807, and the threaded rod 902 is threadedly connected to the inside of the internal threaded tube 807.

[0038] During specific implementation, after multiple pressure sensors 803 are adjusted for PIN needles of different sizes, the range of bottom support will also change. In this solution, an ejector is provided. When the internal threaded cylinder 807 rotates, the threaded rod 902 is driven to rotate through a threaded connection. The threaded rod 902 extends to the inside of the fixed cylinder 9 and is fixedly connected to the push plate 900. A telescopic rod 903 is fixedly connected between the push plate 900 and the bottom end of the fixed cylinder 9. Then, the sealing capsule 901 rises under the action of the threaded rod 902, so that the push plate 900 pushes the sealing capsule 901 to rise. Due to the presence of liquid inside the sealing capsule 901, the contact area of ​​the sealing capsule 901 with the substrate is increased, and automatic adjustment is performed in cooperation with the adjustment of the pressure sensor 803, thereby achieving an automatic adjustment effect.

[0039] Embodiment 4: Figures 9 to 10 As shown, a plurality of nozzles 10 are fixedly connected to the top of the support tube frame 8, a plurality of spraying devices 101 are fixedly connected to the top of the inner top of the support tube frame 8, the spraying device 101 is connected to the nozzle 10 through a branch pipe, a touch switch 104 is fixedly connected to the bottom of the support tube frame 8, the touch switch 104 is electrically connected to the plurality of spraying devices 101, a rotating ring 102 is fixedly connected to the outside of the internal threaded tube 807, a plurality of extrusion blocks 103 are arranged on the outside of the rotating ring 102, when the rotating ring 102 rotates with the internal threaded tube 807, the extrusion block 103 triggers the touch switch 104, so that the plurality of spraying devices 101 spray cooling agent through the nozzle 10.

[0040] During specific implementation, when the internal-thread cylinder 807 rotates, a rotating ring 102 is fixedly connected to the internal-thread cylinder 807. When the rotating ring 102 rotates, it will drive the extrusion block 103 to rotate. At this time, the touch switch 104 will be extruded, so that the touch switch 104 is triggered. The touch switch 104 starts the spraying device 101, and the spraying device 101 sprays the liquid inside it through the nozzle 10 onto the surface of the substrate and the sealing capsule 901, improving the overall heat dissipation effect and accelerating the heat transfer of the liquid inside the sealing capsule 901. The liquid can be selected according to specific operations, such as fluorinated liquid, alcohol, etc. And in this solution, by setting two support cylinder frames 8, when one of the support cylinder frames 8 welds the position of the substrate, the other support cylinder frame 8 can drive the support plate 701 to rotate through the rotating motor 7 to adjust the angle, so as to pre-cool the next welding point around, and at the same time, the liquid inside the other sealing capsule 901 is in a cooling state. The two support cylinder frames 8 are used alternately, thereby improving the cooling effect.

[0041] The spraying device 101 can be composed of a micro pump and a storage tank, and is electrically connected to the touch switch 104 for cooperative use.

[0042] At the same time, the content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

[0043] In the description of this specification, the description with reference to terms such as "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0044] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments to better explain the principle and practical application of the present invention, so that those skilled in the art can understand and utilize the present invention well. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. A PIN needle fully automatic welding device based on multi-axis linkage, comprising a welding machine (2), wherein a loading machine (1) is arranged on one side of the welding machine (2), and a unloading machine (3) is arranged on the other side of the welding machine (2), and a conveying device (4) for conveying is arranged on the top of the loading machine (1), the welding machine (2) and the unloading machine (3), wherein: Also includes: A welding device (201), the welding device (201) is fixedly connected to the top of a welding machine (2), a tray (5) for placing a substrate is arranged outside the conveying device (4), and an upper clamp (202) is fixedly connected to the top of the welding machine (2), an electric telescopic cylinder (6) is arranged inside the welding machine (2), and a lifting frame (601) is fixedly connected to the telescopic end of the electric telescopic cylinder (6) for lifting the substrate to contact the bottom of the upper clamp (202) to fix the substrate; A support plate (701) is arranged inside the lifting frame (601), and two support barrel frames (8) are fixedly connected to the top of the support plate (701). The two support barrel frames (8) are symmetrically arranged, and the tops of the two support barrel frames (8) are each provided with a plurality of pressure sensors (803) in contact with the bottom of the substrate, for detecting the pressure when the PIN needle is docked with the substrate. An adjustment component for adjusting the distance between the plurality of pressure sensors (803) is arranged inside the support barrel frame (8); The tops of the two support cylinder frames (8) are each provided with a support assembly for supporting the PIN needle substrate during welding.

2. The PIN needle fully automatic welding equipment based on multi-axis linkage according to claim 1 is characterized in that: The top of the support tube frame (8) is provided with a plurality of sliding grooves (801), the plurality of sliding grooves (801) are arranged in a ring shape around the center of the support tube frame (8), and the bottoms of the plurality of pressure sensors (803) are all fixedly connected with sliding seats (802), the plurality of sliding seats (802) are respectively slidably connected to the inside of the plurality of sliding grooves (801), and the plurality of pressure sensors (803) form a circular surround.

3. The PIN needle fully automatic welding equipment based on multi-axis linkage according to claim 2 is characterized in that: The adjustment component comprises a rotating disk (804), the rotating disk (804) being rotatably connected to the inside of the supporting tube frame (8), and a plurality of arc-shaped grooves (805) are provided on the surface of the rotating disk (804), the plurality of arc-shaped grooves (805) correspond one-to-one to the plurality of sliding grooves (801), and the plurality of arc-shaped grooves (805) are arranged in a ring shape around the center of the supporting tube frame (8).

4. The PIN needle fully automatic welding equipment based on multi-axis linkage according to claim 3 is characterized in that: The adjustment assembly further comprises a plurality of driving rods (806), wherein the plurality of driving rods (806) are respectively fixedly connected to the bottom of the plurality of pressure sensors (803), and one end of the driving rod (806) extends into an arc-shaped groove (805) provided on the outside of the rotating disk (804) and is slidably connected to the arc-shaped groove (805). An internal threaded tube (807) is fixedly connected to the bottom of the rotating disk (804), and the internal threaded tube (807) passes through the supporting tube frame (8) and the supporting plate (701) in sequence and is rotatably connected to the supporting tube frame (8) and the supporting plate (701).

5. The PIN needle fully automatic welding equipment based on multi-axis linkage according to claim 1 is characterized in that: The support assembly comprises a fixed cylinder (9), the fixed cylinder (9) being fixedly connected to the top of the support cylinder frame (8) and being located at the center of the support cylinder frame (8), the top of the fixed cylinder (9) being provided with a through slot, a sealing capsule (901) being arranged inside the fixed cylinder (9), the sealing capsule (901) being filled with liquid, and a portion of the sealing capsule (901) extending through the through slot to the top of the fixed cylinder (9) for supporting the bottom of the substrate during PIN needle welding, a pushing disk (900) being arranged inside the fixed cylinder (9), the pushing disk (900) being fixedly connected to the bottom of the sealing capsule (901), and a ejector being arranged at the bottom of the pushing disk (900).

6. The PIN needle fully automatic welding equipment based on multi-axis linkage according to claim 5 is characterized in that: The ejector comprises a plurality of telescopic rods (903), the two ends of the plurality of telescopic rods (903) being fixedly connected to the pushing plate (900) and the bottom end of the interior of the fixed cylinder (9), respectively; the bottom of the pushing plate (900) is fixedly connected to a threaded rod (902), the threaded rod (902) passes through the fixed cylinder (9) and extends to the interior of the internal threaded cylinder (807), and the threaded rod (902) is threadedly connected to the interior of the internal threaded cylinder (807).

7. The PIN needle fully automatic welding equipment based on multi-axis linkage according to claim 6 is characterized in that: A plurality of spray heads (10) are fixedly connected to the top of the support barrel frame (8), a plurality of spray devices (101) are fixedly connected to the top of the support barrel frame (8), the spray devices (101) are connected to the spray heads (10) via a branch pipe, a touch switch (104) is fixedly connected to the bottom of the support barrel frame (8), the touch switch (104) is electrically connected to the plurality of spray devices (101), a rotating ring (102) is fixedly connected to the outside of the internal threaded barrel (807), a plurality of extrusion blocks (103) are arranged on the outside of the rotating ring (102), and when the rotating ring (102) rotates along with the internal threaded barrel (807), the extrusion blocks (103) trigger the touch switch (104) to control the plurality of spray devices (101) to spray cooling agent through the spray heads (10).

8. The PIN needle fully automatic welding equipment based on multi-axis linkage according to claim 1 is characterized in that: A moving seat (602) is arranged inside the lifting frame (601), a rotating motor (7) is fixedly connected to the top of the moving seat (602), an output shaft of the rotating motor (7) is fixedly connected to the support plate (701), and a driving module for driving the moving seat (602) to move along the ‌X-Y axis‌ is arranged inside the lifting frame (601).

9. The PIN needle fully automatic welding equipment based on multi-axis linkage according to claim 1 is characterized in that: The outer sides of the two internally threaded cylinders (807) are fixedly connected to transmission wheels (112), the two transmission wheels (112) are connected via a belt drive, and the bottom of the support plate (701) is fixedly connected to a driving motor (111) via a support plate, and the output shaft of the driving motor (111) is fixedly connected to one of the internally threaded cylinders (807).

10. The PIN needle fully automatic welding equipment based on multi-axis linkage according to claim 9 is characterized in that: The top of the loading machine (1) is provided with a loading mechanism (11) for conveying substrates, the top of the unloading machine (3) is provided with a unloading mechanism (301) for transferring substrates, and a cleaning mechanism (302) is provided on one side of the top of the unloading machine (3).

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