A chip automatic welding positioning device based on machine vision

Abstract

The present invention relates to the field of chip welding technology, and in particular to a chip automatic welding positioning device based on machine vision. The present invention provides such a chip automatic welding positioning device based on machine vision, comprising a bracket, a conveying component, a robotic arm, an outer frame, a controller, a visual system, an adjustment frame, a visual sensor, a frame bar one, a frame bar two, a moving component, an adjustment component and a lifting and limiting component. The conveying component is installed on the top of the bracket, the outer frame is connected to the middle of the top of the bracket, the robotic arm is installed at the top of the bracket at the right side of the outer frame, and the controller is installed on the front side wall of the outer frame. The visual system obtains the initial coordinates of the circuit board pad through three-dimensional modeling, the visual sensor monitors the position deviation between the frame bar and the pad in real time, and the linked moving component realizes the precise adjustment of the frame bar one and the frame bar two in three-dimensional space, effectively eliminating the influence of mechanical errors and batch differences, and ensuring high precision of chip welding.

Description

Technical Field

[0001] The present invention relates to the technical field of chip welding, and in particular to a chip automatic welding positioning device based on machine vision. Background Art

[0002] In the semiconductor packaging and electronics manufacturing fields, high-precision soldering between chips and circuit boards is a critical factor in determining product performance and reliability. As electronic products evolve toward miniaturization and integration, chip package sizes continue to shrink (e.g., 01005 chip components and 0.3mm pitch BGA packages), placing higher demands on soldering positioning accuracy. Traditional soldering positioning methods, which often rely on manual operation or mechanical limiters, suffer from low positioning efficiency, insufficient accuracy (errors typically exceeding 0.1mm), and difficulty adapting to a wide range of chip specifications. These methods fail to meet the stringent soldering process standards of current intelligent manufacturing.

[0003] While machine vision-based automated soldering technology has been widely adopted in recent years, existing equipment still faces numerous technical bottlenecks. Some devices utilize a single visual inspection system, which cannot effectively distinguish between individual differences in circuit boards and mechanical installation errors, leading to accumulated positioning deviations. While some devices have adjustment capabilities, the adjustment mechanisms are slow to respond and have a limited adjustment range, making it difficult to quickly adapt to the soldering needs of chips of varying sizes. Furthermore, during the soldering process, the surface tension generated by the melting solder ball can easily cause chip displacement, and existing positioning devices lack effective dynamic limiting measures, severely impacting soldering yields.

[0004] Therefore, developing a chip automatic welding positioning device that can achieve high-precision three-dimensional positioning, adaptive size adjustment and dynamic limiting has become a key technical requirement for improving the quality and efficiency of electronic manufacturing. Summary of the Invention

[0005] In order to overcome the shortcomings mentioned in the background art, the present invention provides a chip automatic welding positioning device based on machine vision.

[0006] The technical solution of the present invention is: a chip automatic welding positioning device based on machine vision, including a bracket, a conveying component, a robotic arm, an outer frame, a controller, a visual system, an adjustment frame, a visual sensor, frame bar 1, frame bar 2, a moving component, an adjustment component and a lifting and limiting component. The conveying component is installed on the top of the bracket, the outer frame is connected in the middle of the top of the bracket, the robotic arm is installed at the top of the bracket at the right side of the outer frame, the controller is installed on the front side wall of the outer frame, the visual system is installed on the left side wall of the outer frame, a moving component is provided in the outer frame, the adjustment frame is installed on the moving component, the visual sensor is installed on the upper end of the adjustment frame, and the frame bar 1 is connected to the lower end. The frame bar 1 is slidably connected to the frame bar 2, and the two are L-shaped and together form a square frame. The conveying component, the robotic arm, the visual system and the visual sensor are all electrically connected to the controller, the adjustment frame is provided with an adjustment component, and the outer frame is provided with a lifting and limiting component.

[0007] In one embodiment, the surfaces of the first frame bar and the second frame bar are coated with a nano-scale high-temperature resistant insulating coating with a coating thickness of 5-10 μm.

[0008] In one embodiment, light strips are connected to the tops of the first frame bar and the second frame bar to assist the visual sensor in identifying the outlines and positions of the first frame bar and the second frame bar.

[0009] In one embodiment, the moving assembly includes a vertical slide rail, a lifting frame, a mobile frame, a drive motor and a transmission belt. The vertical slide rails are symmetrically connected to the front and rear sides of the outer frame. A lifting frame is slidably connected between each of the two symmetrical vertical slide rails. The mobile frame is slidably connected between the two lifting frames. The adjustment frame is slidably connected to the mobile frame. The drive motor and the transmission belt are installed on the mobile frame. The output shaft of the drive motor is connected to the power wheel of the transmission belt, and the adjustment frame is connected to the lower end belt of the transmission belt. The drive motor and the transmission belt are also installed on the lifting frame on the right side. The output shaft of the drive motor is connected to the power wheel of the transmission belt, and the mobile frame is connected to the upper end belt of the transmission belt. Both drive motors are electrically connected to the controller.

[0010] In one embodiment, the adjustment component includes a micro electric cylinder, a moving block, a transverse rack, a longitudinal rack and a gear. The micro electric cylinder is installed at the lower end of the adjustment frame. The micro electric cylinder is electrically connected to the controller, and the micro electric cylinder is connected to frame bar 1. The moving block is connected to the telescopic rod of the micro electric cylinder. The moving block is slidably connected to frame bar 1, and frame bar 2 is also slidably connected to the moving block. A gear is rotatably connected inside the moving block. The longitudinal rack is connected to the right side wall of frame bar 2, and the transverse rack is connected to the front side wall of frame bar 1. Both the transverse rack and the longitudinal rack are engaged with the gear.

[0011] In one embodiment, the lifting limit assembly includes a transverse slide rail, a slide rod, a clamping plate, an isolation plate and a power assembly. The front and rear ends of the lifting frame on the right are respectively slidably connected to the transverse slide rail, and the transverse slide rails are connected to the slide rods. A clamping plate is connected between the left ends of the two slide rods. The bottoms of the two lifting frames are connected to the isolation plate, and a power assembly is provided on the outer frame.

[0012] In one embodiment, the power assembly includes a cylinder, a pushing frame and an elastic telescopic rod. The cylinder is symmetrically connected to the top of the outer frame, and the cylinder is electrically connected to the controller. The two cylinder telescopic rods pass through the interior of the outer frame and are jointly connected to a pushing frame. The bottom of the pushing frame is symmetrically connected to the elastic telescopic rod, and a spring is installed in the elastic telescopic rod. The lower end of the elastic telescopic rod is rotatably connected to the corresponding sliding rod.

[0013] In one embodiment, it also includes a storage barrel, a cylinder, a piston rod, a return spring, a delivery pipe, a hose, a discharge gun and a guide rod. The storage barrel is fixed on the left side of the front of the movable frame, and the cylinder is connected to the position on the left side of the storage barrel on the movable frame. The piston rod is slidably connected in the cylinder, and a return spring is connected between the piston rod and the inside of the cylinder. The pushing frame is in contact with the piston rod. A delivery pipe is connected between the bottom of the storage barrel and the bottom of the cylinder. A one-way valve is installed at the left end of the delivery pipe, and the right end of the cylinder is connected and communicated with a hose. The right end of the hose is connected to the discharge gun, and the discharge gun is installed on the adjustment frame in a through-type manner, with its muzzle facing the welding area enclosed by frame bar one and frame bar two. The left end of the hose is also equipped with a one-way valve. The front side of the movable frame is connected to the guide rod, and the excess length of the hose is wrapped around the guide rod.

[0014] The beneficial effects are: 1. The visual system obtains the initial coordinates of the circuit board pad through three-dimensional modeling, the visual sensor monitors the position deviation between the frame strip and the pad in real time, and the linked moving components realize the precise adjustment of frame strip one and frame strip two in three-dimensional space, effectively eliminating the influence of mechanical errors and batch differences, and ensuring high-precision chip welding.

[0015] 2. Frame bars 1 and 2 physically limit the chip during soldering, effectively suppressing chip displacement caused by surface tension generated by the melting solder ball, significantly improving soldering accuracy and finished product quality.

[0016] 3. The micro electric cylinder in the adjustment component drives the gear-rack linkage mechanism, which can accurately control the synchronous translation of frame bar 2 along the X and Y axes based on the welding area size data fed back by the visual sensor. This allows the square outer frame enclosed by frame bars 1 and 2 to be scaled proportionally, is compatible with chips of multiple specifications, and greatly improves the versatility of the equipment and production flexibility.

[0017] 4. The lifting limit assembly adopts a flexible clamping method that combines cylinder drive with elastic telescopic rod. Through the adaptive adjustment of the spring, it can not only firmly clamp circuit boards of different thicknesses, but also avoid damage to the circuit boards due to rigid extrusion, thereby ensuring the position stability of the circuit boards during welding.

[0018] 5. Based on the storage barrel, discharge gun and linkage structure (push frame and piston rod), automatic addition, quantitative delivery and cyclic replenishment of solder paste are realized, reducing manual intervention and improving welding efficiency; at the same time, the bonding strength between the chip and the circuit board is enhanced, reducing the risk of chip cracking. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0020] Figure 2 It is a schematic diagram of the three-dimensional structure of the robot arm, outer frame, lifting frame and other components of the present invention.

[0021] Figure 3 It is a schematic diagram of the three-dimensional structure of the vertical slide rail, lifting frame and moving frame of the present invention.

[0022] Figure 4 It is a schematic diagram of the three-dimensional structure of the adjustment frame, visual sensor, frame bar and other components of the present invention.

[0023] Figure 5 It is a three-dimensional structural diagram of the components such as the movable frame, driving motor and transmission belt of the present invention.

[0024] Figure 6 It is a schematic diagram of the three-dimensional structure of the frame bar 1, frame bar 2 and micro electric cylinder and other components of the present invention.

[0025] Figure 7 It is a schematic diagram of the three-dimensional structure of the moving block, transverse rack and longitudinal rack components of the present invention.

[0026] Figure 8 This is a split diagram of the longitudinal rack, gear and frame bar components of the present invention.

[0027] Figure 9 It is a schematic diagram of the three-dimensional structure of the transverse slide rail, slide rod and clamping plate of the present invention.

[0028] Figure 10 It is a schematic diagram of the three-dimensional structure of the clamping plate, isolation plate, cylinder and other components of the present invention.

[0029] Figure 11 It is a schematic planar structural diagram of the elastic telescopic rod, sliding rod, clamping plate and other components of the present invention.

[0030] Figure 12 It is a schematic diagram of the three-dimensional structure of the clamping plate, isolation plate and lifting frame components of the present invention.

[0031] Figure 13 It is a schematic diagram of the three-dimensional structure of the cylinder, piston rod, delivery pipe and other components of the present invention.

[0032] Figure 14 It is a schematic diagram of the three-dimensional structure of the hose, discharge gun, guide rod and other components of the present invention.

[0033] Figure 15 It is a schematic diagram of the three-dimensional structure of the cylinder, piston rod and return spring of the present invention.

[0034] The markings in the figure are: 1- bracket, 101- conveying component, 102- robotic arm, 103- outer frame, 104- controller, 105- visual system, 106- adjustment frame, 107- visual sensor, 108- frame bar 1, 109- frame bar 2, 201- vertical slide rail, 202- lifting frame, 203- moving frame, 204- driving motor, 205- transmission belt, 301- micro electric cylinder, 302- moving block, 303-transverse rack, 304-longitudinal rack, 305-gear, 401-transverse slide rail, 402-slide rod, 403-clamping plate, 404-isolation plate, 501-cylinder, 502-push frame, 503-elastic telescopic rod, 601-storage barrel, 602-cylinder body, 603-piston rod, 6031-reset spring, 604-delivery pipe, 605-hose, 606-discharging gun, 607-guide rod. DETAILED DESCRIPTION

[0035] The present invention will be further described below with reference to the embodiments shown in the accompanying drawings.

[0036] Example 1: A chip automatic welding positioning device based on machine vision, such as Figures 1-12As shown, it includes a bracket 1, a conveying component 101, a robotic arm 102, an outer frame 103, a controller 104, a visual system 105, an adjustment frame 106, a visual sensor 107, a frame bar 108, a frame bar 2 109, a moving component, an adjusting component and a lifting and limiting component. The conveying component 101 is installed on the top of the bracket 1, and its function is to continuously convey the circuit board to provide a stable material supply for subsequent welding operations. The outer frame 103 is connected to the middle of the top of the bracket 1 by bolts. The robotic arm 102 is installed at the top of the bracket 1 on the right side of the outer frame 103 to realize chip picking and placement and precise control of hot air gun welding. The controller 104 is installed on the front side wall of the outer frame 103 by bolts, and the visual system 105 is installed on the left wall of the outer frame 103 by bolts. The latter completes the circuit board contour scanning and pad coordinate positioning. The former serves as the system control center to realize the collaborative operation of multiple components. The outer frame 103 is equipped with There is a moving component, and an adjustment frame 106 is installed on the moving component. A visual sensor 107 is installed on the upper end of the adjustment frame 106, and a frame bar 108 is connected to the lower end. Frame bar 108 is slidably connected to frame bar 2 109. The two are L-shaped structures and together form a square frame. By sliding adjustment of frame bar 2 109, the size of the square frame can be flexibly adjusted to meet the welding requirements of chips of different specifications. The surface of frame bar 108 and frame bar 2 109 is coated with a nano-level high-temperature resistant insulating coating with a coating thickness of 5-10μm. It has anti-oxidation and anti-solder adhesion properties, is easy to clean and can extend the service life of components. The conveying component 101, the robotic arm 102, the visual system 105 and the visual sensor 107 are all electrically connected to the controller 104, thereby realizing data transmission and instruction execution. An adjustment component is provided on the adjustment frame 106, and a lifting limit component is provided on the outer frame 103.

[0037] In order to improve the detection effect of the visual sensor 107, light strips are connected to the top of frame bar 108 and frame bar 2 109. The uniform light emitted by the light strips can provide good lighting conditions for the visual sensor 107, helping it to more clearly identify the outline and position of frame bar 108 and frame bar 2 109, and then more accurately detect their alignment with the circuit board pads, thereby improving the accuracy of positioning.

[0038] like Figure 2-Figure 5As shown, the moving assembly includes a vertical slide rail 201, a lifting frame 202, a moving frame 203, a driving motor 204 and a transmission belt 205. The vertical slide rails 201 are symmetrically connected to each other on both the front and rear sides of the outer frame 103 by bolts. The lifting frame 202 is slidably connected between each of the two vertical slide rails 201 symmetrically. The lifting frame 202 can slide along the vertical slide rail 201 in the Z-axis (up and down) direction. The moving frame 203 is slidably connected between the two lifting frames 202. The moving frame 203 can slide along the lifting frame 202 in the front and rear directions. The adjusting frame 106 is slidably connected to the moving frame 203 and can slide left and right along the moving frame 203. The driving motor 204 and the transmission belt 205 are installed on the moving frame 203 by bolts. The output shaft of the driving motor 204 is connected to the power wheel of the transmission belt 205. The adjusting frame 106 is connected to the lower end belt of the transmission belt 205. When the driving motor When the transmission belt 205 of 204 drives forward or reverse operation, it can drive the adjustment frame 106 to move and adjust the left and right directions along the movable frame 203. The driving motor 204 and the transmission belt 205 are also installed on the lifting frame 202 on the right side by bolts. The output shaft of the driving motor 204 is connected to the power wheel of the transmission belt 205, and the movable frame 203 is connected to the upper end belt of the transmission belt 205. Through the forward or reverse operation of the transmission belt 205, the movable frame 203 can be driven to move and adjust the front and rear directions along the lifting frame 202. In this way, through the coordinated work of the moving components, the position of the frame bar 108 and the frame bar 2 109 as a whole in the X-axis (left and right) and Y-axis (front and back) directions can be adjusted to meet the requirements of different chip welding positions. The two driving motors 204 are both electrically connected to the controller 104, and their operation is accurately controlled by the controller 104 to ensure the accuracy and stability of the position adjustment.

[0039] like Figure 6-Figure 8As shown, the adjustment assembly includes a micro-electric cylinder 301, a moving block 302, a horizontal rack 303, a longitudinal rack 304 and a gear 305. The micro-electric cylinder 301 is installed at the lower end of the adjustment frame 106 by bolts. The micro-electric cylinder 301 is electrically connected to the controller 104, and the micro-electric cylinder 301 is connected to the frame bar 108. The moving block 302 is connected to the telescopic rod of the micro-electric cylinder 301. The moving block 302 is slidably connected to the frame bar 108, and the frame bar 2 109 The same is connected to the moving block 302 in a sliding manner. The moving block 302 is connected to a gear 305 in a rotating manner. A longitudinal rack 304 is welded on the right side wall of the frame bar 2 109, and a transverse rack 303 is welded on the front side wall of the frame bar 108. The transverse rack 303 and the longitudinal rack 304 are both engaged with the gear 305. When the visual sensor 107 completes the detection of the relative position relationship between the circuit board pad and the frame bar 108 and the frame bar 2 109, the detection data will be transmitted to the control The device 104 is driven by the controller 104 to drive the micro-electric cylinder 301 to precisely adjust the size of the square frame enclosed by the frame bar 108 and the frame bar 2 109 to match the pad area of ​​the circuit board. When the micro-electric cylinder 301 is started and its telescopic rod is extended, it will drive the moving block 302 and the gear 305 to move to the left. The moving block 302 pushes the frame bar 2 109 to slide to the left. Since the gear 305 and the horizontal rack 303 are engaged with each other, the gear 305 will rotate under the action of the horizontal rack 303. The rotating gear 305 drives the longitudinal rack 304 to move, thereby causing the frame bar 2 109 to slide forward, thereby achieving synchronous translation of the frame bar 2 109 along the X and Y axes, thereby increasing the size of the frame enclosed by the frame bar 2 109 and the frame bar 1 108. Conversely, when the telescopic rod of the micro-electric cylinder 301 is retracted, a reverse effect will be generated, reducing the size of the frame enclosed by the frame bar 2 109 and the frame bar 1 108.

[0040] When performing welding processing on circuit boards and chips, the circuit boards are loaded onto the conveying assembly 101, and the conveying assembly 101 conveys the circuit boards one by one to the right. When the circuit boards enter the detection area of ​​the visual system 105, the industrial camera uses sub-pixel image recognition technology to perform 3D modeling of the outer contour of the circuit board, and accurately extracts the pad position coordinates through the edge detection algorithm. The visual system 105 converts the posture data of the circuit board into Cartesian coordinate system instructions that can be recognized by the robot arm 102, and transmits it to the controller 104 synchronously to complete the initial calibration of the welding target position. After the circuit board continues to be conveyed to the right and enters the processing area in the outer frame 103, the conveying assembly 101 accurately pauses according to the instructions of the controller 104. At this time, the visual sensor 107 scans the relative positions of frame bar 1 108, frame bar 2 109 and the circuit board pad in real time at a frequency of 20 frames per second, and calculates the offset of the two in the X, Y and Z axes through the image matching algorithm. Based on the deviation data, the controller 104 synchronously drives the two sets of drive motors 204 of the mobile component: drives the adjustment frame 106 to perform precise displacement compensation in the horizontal plane (XY plane) to achieve preliminary alignment of frame bar 108, frame bar 2 109 and the circuit board pad. Subsequently, the visual sensor 107 further analyzes the size of the welding area, and the controller 104 triggers the micro-electric cylinder 301 of the adjustment component to execute the dynamic scaling instruction, driving frame bar 2 109 to translate synchronously along the X and Y axes to achieve proportional adjustment of the square frame size. After positioning is completed, the controller 104 starts the lifting and limiting component to drive frame bar 108 and frame bar 2 109 to reach a preset distance from the circuit board pad, and realizes the circuit board through the precise coordination of the power component. Dynamic clamping and welding protection. Subsequently, the robot arm 102, based on the guidance of the vision system 105, picks up the chip through the vacuum adsorption device and places it accurately on the pad of the circuit board. The square frame formed by the frame bar 108 and the frame bar 2 109 effectively limits the chip. The robot arm 102 switches to the hot air gun to perform the welding process, and controls the hot air gun to heat the chip evenly so that the solder ball at the bottom of the chip is heated and melted. Under the action of surface tension, the solder ball is well combined with the pad on the circuit board to achieve welding. During the heating process, due to the certain surface tension generated when the solder ball melts, the chip may be shifted. The setting of the frame bar 108 and the frame bar 2 109 can limit the position of the chip on the circuit board and ensure the accuracy of chip welding. After the welding is completed, the controller 104 controls the lifting and limiting assembly to drive the frame bar 108 and the frame bar 2 109 to reset, and the conveying assembly 101 restarts to move the welded circuit board out of the processing area and send in the next circuit board to be processed. For products in the same batch, the system automatically calls preset parameters and only performs rapid lifting, positioning and welding operations to improve production efficiency.

[0041] like Figure 2 and Figures 9-12As shown, the lifting limit assembly includes a transverse slide rail 401, a slide rod 402, a clamping plate 403, an isolation plate 404 and a power assembly. The front and rear ends of the lifting frame 202 on the right are respectively slidably connected to the transverse slide rail 401, and the slide rod 402 is welded on the transverse slide rail 401. The clamping plate 403 is connected between the left ends of the two slide rods 402. The bottom of the two lifting frames 202 are connected to the isolation plate 404 by bolts, and a power assembly is provided on the outer frame 103.

[0042] like Figure 2 and Figures 9-12 As shown, the power assembly includes a cylinder 501, a pushing frame 502 and an elastic telescopic rod 503. The cylinder 501 is symmetrically connected to the top of the outer frame 103 by bolts. The cylinder 501 is electrically connected to the controller 104. The two cylinder 501 telescopic rods pass through the inside of the outer frame 103 and are jointly connected to a pushing frame 502. The bottom of the pushing frame 502 is symmetrically connected to the elastic telescopic rod 503 for rotation. The elastic telescopic rod 503 is equipped with a spring for providing a reset force. The lower ends of the elastic telescopic rods 503 are respectively connected to the corresponding sliding rods 402 for rotation.

[0043] When the square frame enclosed by the frame bar 108 and the frame bar 2 109 is precisely aligned with the circuit board welding area through the visual feedback system, the lifting limit assembly is started under the instruction of the controller 104, and the dynamic clamping and welding protection of the circuit board are realized through the precise coordination of the power assembly. The specific working process is as follows: the controller 104 triggers the cylinder 501 to start, and the telescopic rod of the cylinder 501 extends downward, driving the push frame 502 and the elastic telescopic rod 503 connected thereto to move downward synchronously, and the elastic telescopic rod 503 drives the sliding rod 402 and the clamping rod 403. The plate 403 and the horizontal slide rail 401 move downward, thereby pushing the lifting frame 202 and the isolation plate 404 and other components to slide downward along the vertical slide rail 201 until the frame bar 108, the frame bar 2 109 and the circuit board surface reach a preset distance. At this time, the right isolation plate 404 is the first to tightly abut against the right edge of the circuit board. The isolation plates 404 on both sides form a physical barrier, effectively isolating the welding operation area to prevent solder ball chips from splashing and heat diffusion. At this time, the cylinder 501 continues to extend to push the push frame 502 further downward, and the elastic telescopic rod 503 Due to the obstruction of the lower end sliding rod 402, it rotates. Based on the principle of lever, this rotation transmits the horizontal component of force through the hinge point, pushing the sliding rod 402 to drive the horizontal slide rail 401 to move to the right along the lifting frame 202, thereby driving the clamping plate 403 to move toward the left edge of the circuit board. The spring built into the elastic telescopic rod 503 has adaptive adjustment characteristics and can dynamically adjust the clamping force according to the actual thickness of the circuit board: when the circuit board is small, the spring preload ensures that the clamping plate 403 is in reliable contact; when the circuit board is thick, the spring provides a buffer by compressing and deforming at the extreme rotation angle, avoiding damage to the circuit board due to rigid extrusion, and finally achieving flexible clamping on the left and right sides of the circuit board, ensuring that the circuit board remains in a zero displacement state during the welding process. After the lifting limit assembly completes the fixing of the circuit board, the robot arm 102 accurately places the chip in the welding area according to the coordinates calibrated by the vision system 105. At this time, the square frame formed by the frame bar 108 and the frame bar 209 just surrounds the chip. The physical limit is used to constrain the displacement of the chip caused by surface tension during the melting of the solder ball, ensuring the welding alignment accuracy. Subsequently, the robotic arm 102 switches to a hot air gun to perform gradient heating on the chip, achieving uniform melting and reliable soldering of the solder balls through a closed-loop temperature control system. After the soldering process is completed, the controller 104 controls the telescopic rod of the cylinder 501 to retract upward, pushing the frame 502 to drive the elastic telescopic rod 503 to rotate in the opposite direction. The spring releases its elastic potential energy, driving the slide bar 402 and clamping plate 403 to translate and reset to the left along the lifting frame 202, releasing the clamping force on the circuit board. As the cylinder 501 continues to retract, the elastic telescopic rod 503 drives the liftable integral component upward along the vertical slide rail 201, and the frame bar 108, frame bar 2 109 and isolation plate 404 are separated from the surface of the circuit board and returned to the standby position. At this time, the conveyor assembly 101 restarts, moving the soldered circuit board out of the processing area, and the device enters the next soldering cycle.

[0044] Example 2: Based on Example 1, Figure 10 、 Figure 11 、 Figure 13 、 Figure 14 and Figure 15 As shown, it also includes a storage barrel 601, a cylinder 602, a piston rod 603, a return spring 6031, a delivery pipe 604, a hose 605, a discharge gun 606 and a guide rod 607. A storage barrel 601 is fixed on the left side of the front of the mobile frame 203 for storing solder paste raw materials. The cylinder 602 is connected to the position on the left side of the storage barrel 601 on the mobile frame 203. The piston rod 603 is slidably connected in the cylinder 602. A return spring 6031 is connected between the piston rod 603 and the inside of the cylinder 602. The pushing frame 502 is in contact with the piston rod 603. A delivery pipe 604 is connected between the bottom of the storage barrel 601 and the bottom of the cylinder 602. A one-way valve is installed at the left end of the delivery pipe 604. The solder paste in the storage barrel 601 can enter the cylinder 602 through the delivery pipe 604, while the solder paste in the cylinder 602 cannot It flows back into the storage barrel 601 through the conveying pipe 604, and the right end of the cylinder 602 is connected and communicated with a hose 605, and the right end of the hose 605 is connected to a discharge gun 606. The discharge gun 606 is installed on the adjusting frame 106 in a through-type manner, and its muzzle faces the welding area enclosed by the frame bar 108 and the frame bar 2 109. The left end of the hose 605 is also equipped with a one-way valve. The solder paste in the cylinder 602 can enter the hose 605, while the solder paste in the hose 605 cannot flow back into the cylinder 602. A guide rod 607 is welded on the front side of the movable frame 203, and the excess length of the hose 605 is wrapped around the guide rod 607. When the adjusting frame 106 is adjusted in the left and right directions along the movable frame 203, the discharge gun 606 moves synchronously. The function of the guide rod 607 can ensure that the hose 605 will not be entangled or knotted with each other.

[0045] When the cylinder 501 drives the push frame 502 to move downward, it will first drive the frame bar 108 and the frame bar 2 109 to move downward until they reach a preset distance from the circuit board pad. As the push frame 502 continues to move downward, it contacts the top of the piston rod 603 and applies pressure, overcoming the elastic force of the return spring 6031 to push the piston rod 603 downward. During this process, the volume of the inner cavity of the cylinder 602 decreases, and the internal solder paste pushes open the one-way valve of the hose 605 in turn under the action of pressure, and flows to the welding area of ​​the circuit board through the discharge gun 606, completing the solder paste pre-filling process. After the welding process is started, the robot arm 102 accurately places the chip on the area coated with solder paste, and then the hot air gun heats the chip, and the high The temperature causes the solder paste to melt quickly and evenly infiltrate the chip pins and circuit board pads. The solder paste's flux-supporting properties and adhesive effect significantly enhance the bonding strength of the welding interface, effectively preventing the chip from cracking due to thermal stress. After the welding operation is completed, the cylinder 501 drives the push frame 502 to reset upward. When the push frame 502 is separated from the piston rod 603, the reset spring 6031 releases its elastic potential energy, driving the piston rod 603 to move upward and reset, forming a negative pressure environment in the cylinder 602. At this time, the solder paste in the storage barrel 601 pushes open the one-way valve of the delivery pipe 604 under the action of atmospheric pressure and refills the inner cavity of the cylinder 602, completing the automatic supply cycle of the solder paste and preparing for the next welding operation.

Claims

1. A chip automatic welding positioning device based on machine vision, characterized by: The invention comprises a bracket (1), a conveying assembly (101), a robot arm (102), an outer frame (103), a controller (104), a visual system (105), an adjustment frame (106), a visual sensor (107), a frame bar 1 (108), a frame bar 2 (109), a moving assembly, an adjustment assembly and a lifting and limiting assembly. The conveying assembly (101) is installed on the top of the bracket (1), the outer frame (103) is connected to the middle of the top of the bracket (1), the robot arm (102) is installed on the right side of the outer frame (103), and the controller is installed on the front side wall of the outer frame (103). (104), a visual system (105) is installed on the left side wall of the outer frame (103), a moving component is provided inside the outer frame (103), an adjustment frame (106) is installed on the moving component, a visual sensor (107) is installed on the upper end of the adjustment frame (106), and a frame bar 1 (108) is connected to the lower end, and a frame bar 2 (109) is slidably connected to the frame bar 1 (108), and the two are L-shaped structures, which together form a square frame. The conveying component (101), the robotic arm (102), the visual system (105) and the visual sensor (107) are all electrically connected to the controller (104). An adjusting component is provided on the adjusting frame (106), and a lifting limit component is provided on the outer frame (103); the moving component includes a vertical slide rail (201), a lifting frame (202), a moving frame (203), a driving motor (204) and a transmission belt (205); the vertical slide rails (201) are symmetrically connected to the front and rear sides of the outer frame (103); a lifting frame (202) is slidably connected between each of the two symmetrical vertical slide rails (201); a moving frame (203) is slidably connected between the two lifting frames (202); the adjusting frame (106) is slidably connected to the moving frame (203); the moving frame (203) is slidably connected to the adjusting frame (106); A driving motor (204) and a transmission belt (205) are installed on the frame (203), the output shaft of the driving motor (204) is connected to the power wheel of the transmission belt (205), the adjusting frame (106) is connected to the lower end belt of the transmission belt (205), and the lifting frame (202) on the right side is also installed with a driving motor (204) and a transmission belt (205), the output shaft of the driving motor (204) is connected to the power wheel of the transmission belt (205), the moving frame (203) is connected to the upper end belt of the transmission belt (205), and both driving motors (204) are electrically connected to the controller (104);The adjustment component includes a micro-electric cylinder (301), a moving block (302), a transverse rack (303), a longitudinal rack (304) and a gear (305). The micro-electric cylinder (301) is installed at the lower end of the adjustment frame (106). The micro-electric cylinder (301) is electrically connected to the controller (104). The micro-electric cylinder (301) is connected to the frame bar 1 (108). The micro-electric cylinder (301) is connected to the telescopic rod of the micro-electric cylinder (301). The moving block (302) is slidably connected to the frame bar 1 (108). The frame bar 2 (109) is also slidably connected to the moving block (302). The gear (305) is rotatably connected to the moving block (302). The right side wall of the frame bar 2 (109) is connected to the longitudinal rack (304). The front side wall of the frame bar (108) is connected to a horizontal rack (303), and the horizontal rack (303) and the longitudinal rack (304) are both engaged with the gear (305); the lifting limit assembly includes a horizontal slide rail (401), a slide rod (402), a clamping plate (403), an isolation plate (404) and a power assembly. The front and rear ends of the lifting frame (202) on the right side are respectively slidably connected to the horizontal slide rail (401), the horizontal slide rail (401) is connected to the slide rod (402), the clamping plate (403) is connected between the left ends of the two slide rods (402), the bottom of the two lifting frames (202) is connected to the isolation plate (404), and the power assembly is provided on the outer frame (103).

2. The chip automatic welding positioning device based on machine vision according to claim 1, characterized in that: The surfaces of the frame strip 1 (108) and the frame strip 2 (109) are coated with a nano-scale high-temperature resistant insulating coating with a coating thickness of 5-10 μm.

3. The chip automatic welding positioning device based on machine vision according to claim 1, characterized in that: The tops of the first frame strip (108) and the second frame strip (109) are both connected with light strips to assist the visual sensor (107) in identifying the outlines and positions of the first frame strip (108) and the second frame strip (109).

4. The chip automatic welding positioning device based on machine vision according to claim 1, characterized in that: The power assembly includes a cylinder (501), a pushing frame (502) and an elastic telescopic rod (503). The top of the outer frame (103) is symmetrically connected to the cylinder (501). The cylinder (501) is electrically connected to the controller (104). The telescopic rods of the two cylinders (501) pass through the interior of the outer frame (103) and are jointly connected to a pushing frame (502). The bottom of the pushing frame (502) is symmetrically connected to the elastic telescopic rod (503). A spring is installed in the elastic telescopic rod (503). The lower ends of the elastic telescopic rods (503) are respectively connected to the corresponding sliding rods (402) for rotation.

5. The chip automatic welding positioning device based on machine vision according to claim 1, characterized in that: The invention also includes a storage barrel (601), a cylinder (602), a piston rod (603), a return spring (6031), a delivery pipe (604), a hose (605), a discharge gun (606) and a guide rod (607). The storage barrel (601) is fixed to the left side of the front of the movable frame (203). The cylinder (602) is connected to the position of the movable frame (203) on the left side of the storage barrel (601). The piston rod (603) is slidably connected in the cylinder (602). The return spring (6031) is connected between the piston rod (603) and the inside of the cylinder (602). The push frame (502) contacts and cooperates with the piston rod (603). A delivery pipe (604) is connected between the bottom of (601) and the bottom of the cylinder (602), and a one-way valve is installed at the left end of the delivery pipe (604). The right end of the cylinder (602) is connected and communicated with a hose (605), and the right end of the hose (605) is connected to a discharge gun (606). The discharge gun (606) is installed on the adjustment frame (106) in a through-type manner, and its muzzle faces the welding area enclosed by the frame bar 1 (108) and the frame bar 2 (109). The left end of the hose (605) is also equipped with a one-way valve. A guide rod (607) is connected to the front side of the movable frame (203), and the excess length of the hose (605) is wound around the guide rod (607).

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