Integrated circuit multi-point collaborative robot system and multi-point collaborative method

Abstract

The invention discloses an integrated circuit multi-point collaborative robot system and a multi-point collaborative method.The integrated circuit multi-point collaborative robot system comprises a positioning workbench, a feeding and discharging clamping unit, a component welding unit and a circuit board positioning assembly are arranged on the positioning workbench, and the circuit board positioning assembly comprises a vibration positioning seat; a positioning groove is formed in the top of the vibration positioning base, the size of the positioning groove is gradually reduced in the vertical direction close to the positioning workbench, the feeding and discharging clamping unit comprises two feeding and discharging robot arms which are oppositely installed, and the component welding unit comprises a component feeding robot arm and a welding robot arm. The component feeding robot arm is used for feeding components to a circuit board, the welding robot arm is used for welding the components fed by the component feeding robot arm to the circuit board, a multi-robot collaborative operation mode is constructed, and parallel operation and dynamic connection of all procedures are achieved. Therefore, the continuity and the high efficiency of integrated circuit production are obviously improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of collaborative production, in particular to a multi-point collaborative robot system for integrated circuits and a multi-point collaborative method. BACKGROUND

[0002] In the current rapid development of the integrated circuit manufacturing industry, the trend of miniaturization and high integration of electronic products is increasingly evident, which puts forward increasingly stringent requirements on the automation level, processing precision and production efficiency of integrated circuit production. Among them, the production process of circuit board as the core carrier of integrated circuit includes multiple key processes such as feeding, positioning, component assembly, welding and discharging, and the collaborative efficiency of each process directly determines the overall production capacity and product quality stability.

[0003] Currently, in the traditional integrated circuit production system, each functional unit generally adopts an independent running mode, and each process is executed in a fixed sequence, lacking an effective collaborative working mechanism. Specifically, in the circuit board feeding stage, the feeding and discharging equipment needs to wait for the positioning process to be completed before performing the next operation after completing a single feeding, resulting in a long idle time of the equipment; in the positioning link, the positioning mechanism needs to wait for the welding process to be completed and the circuit board to be removed before receiving the next circuit board to be positioned after completing the positioning and calibration of a circuit board, seriously restricting the continuous operation capacity of the positioning equipment.

[0004] In the component assembly and welding process, the disadvantages of independent operation are more prominent. The component feeding robot and the welding robot often work in the mode of "feeding-waiting for welding-feeding again", and the action time of the two cannot be overlapped, resulting in that the welding robot arm is idle during the component feeding process, and the feeding robot arm also needs to wait for the welding to be completed before delivering the next group of components, greatly wasting the effective operation time of the equipment. At the same time, there is a lack of dynamic connection mechanism between the feeding and discharging link and the welding link, when the welding process is temporarily stalled, the feeding process cannot reserve the circuit board to be welded in advance, and vice versa, when the feeding link is delayed, the welding equipment is forced to stop due to lack of material to be welded, further exacerbating the loss of production efficiency. SUMMARY

[0005] The present application aims to overcome the shortcomings of the prior art and provide a multi-point collaborative robot system for integrated circuits and a multi-point collaborative method, which optimizes the positioning mechanism, integrates a multifunctional feeding and discharging device, and constructs a multi-robot collaborative working mode to realize parallel operation and dynamic connection of each process, thereby significantly improving the continuity and efficiency of integrated circuit production.

[0006] The object of the application is achieved by the technical scheme: an integrated circuit multi-point cooperative robot system, comprising a positioning workbench, an upper and lower material clamping machine group, a component welding machine group and a circuit board positioning assembly are arranged on the positioning workbench, the circuit board positioning assembly comprises a vibration positioning seat, the vibration positioning seat is arranged on the positioning workbench, the vibration positioning seat can reciprocate in the horizontal direction to generate vibration, a positioning groove is formed in the top of the vibration positioning seat, the size of the positioning groove gradually decreases in the vertical direction close to the positioning workbench, the minimum size of the positioning groove matches the size of the circuit board, the upper and lower material clamping machine group comprises two oppositely installed upper and lower material robot arms, an action switching assembly is installed at the execution end of the upper and lower material robot arm, the action switching assembly comprises a mounting seat and a rotary switching plate, the mounting seat is fixed at the execution end of the upper and lower material robot arm, the rotary switching plate is rotationally arranged on the mounting seat, a negative pressure suction cup and a finger air cylinder are respectively installed at the upper and lower end faces of the rotary switching plate, the component welding machine group comprises a component feeding robot arm and a welding robot arm, the component feeding robot arm is used for feeding components onto the circuit board, and the welding robot arm is used for welding the components fed by the component feeding robot arm on the circuit board.

[0007] Further, a positioning sliding groove is formed in the top of the positioning workbench along the length direction of the positioning workbench, a positioning sliding seat is slidably arranged in the positioning sliding groove, the vibration positioning seat is installed on the positioning sliding seat through screws, and a drive mechanism is arranged at one end of the positioning sliding seat, the drive mechanism is used for reciprocating the positioning sliding seat in the length direction of the positioning sliding groove to generate vibration.

[0008] Further, a telescopic shaft is connected to the end of the positioning sliding seat away from the drive mechanism, one end of the telescopic shaft away from the positioning sliding seat is connected to the positioning workbench, a vibration spring is sleeved on the telescopic shaft, and under normal circumstances, the positioning sliding seat is abutted against the side wall of one end of the positioning sliding groove under the action of the vibration spring, and is used for positioning the coordinates of each welding point on the circuit board.

[0009] Further, a positioning auxiliary device is arranged on the positioning workbench, the positioning auxiliary device comprises a longitudinal positioning seat and longitudinal positioning shafts, the longitudinal positioning seat has a movement degree of freedom in the horizontal direction, the longitudinal positioning seat can be moved to the upper side of the vibration positioning seat, four longitudinal positioning shafts are slidably arranged at the bottom of the longitudinal positioning seat, the four longitudinal positioning shafts correspond to the positions of the four corners of the minimum size of the positioning groove respectively, the four longitudinal positioning shafts are synchronously moved downward under the action of their own gravity, and under the vibration of the vibration positioning seat and the contact limiting of the longitudinal positioning shafts, the circuit board is gradually positioned to the bottom of the positioning groove.

[0010] Further, the longitudinal positioning seat is provided with an inner cavity, a synchronous plate is arranged in the inner cavity, four longitudinal positioning shafts are connected to the synchronous plate by penetrating into the inner cavity, a first air cylinder is vertically arranged below the synchronous plate and is installed in the inner cavity, and the first air cylinder is used to lift the synchronous plate upward for resetting.

[0011] Further, an anti-return mechanism is arranged in the inner cavity, the anti-return mechanism comprises a rack, a first anti-return shaft and a second anti-return shaft, the rack is vertically fixed on the top of the synchronous plate, the first anti-return shaft and the second anti-return shaft are both rotationally connected to the longitudinal positioning seat, a gear and an anti-return ratchet wheel are fixedly sleeved on the first anti-return shaft, the gear is engaged with the rack, an anti-return pawl is rotationally sleeved on the second anti-return shaft, a reset spring is sleeved on the second anti-return shaft, two ends of the reset spring are respectively connected to the anti-return pawl and the longitudinal positioning seat, an arc end of the anti-return pawl is connected with a pawl spring, one end of the pawl spring away from the anti-return pawl is connected to the longitudinal positioning seat, under the joint action of the reset spring and the pawl spring, the anti-return pawl is adapted to the ratchet groove of the anti-return ratchet wheel, so as to limit the upward movement of the synchronous plate, a second air cylinder is installed on the side wall of the longitudinal positioning seat, and the anti-return pawl is located on the movement path of the second air cylinder.

[0012] Further, a distance sensor is installed on the inner bottom wall of the inner cavity, the distance sensor is used to judge whether the circuit board is positioned by detecting the position height of the synchronous plate, a support is installed on the positioning workbench, a third air cylinder is horizontally installed on the top of the support, and the telescopic shaft of the third air cylinder is connected to the longitudinal positioning seat.

[0013] Further, a lifting cavity is arranged in the positioning workbench, a lifting mechanism is arranged in the lifting cavity, the lifting mechanism comprises a lifting air cylinder and a lifting plate, the lifting air cylinder is vertically installed on the positioning workbench, the telescopic shaft of the lifting air cylinder is connected to the lifting plate, a plurality of negative pressure holes are formed in the top of the lifting plate, a negative pressure cavity is arranged in the lifting plate, the negative pressure holes are communicated with the negative pressure cavity, a through hole is formed in the bottom of the positioning groove and is communicated with the lifting cavity, and the lifting plate is extended out of the through hole to lift the circuit board.

[0014] Further, a switching shaft is fixed to one end of the rotating switching plate close to the mounting seat, the switching shaft is rotationally connected to the mounting seat through a bearing, the axis of the switching shaft is horizontally arranged, a switching cavity is arranged in the mounting seat, a driven gear is connected to one end of the switching shaft penetrating into the switching cavity, a speed reduction motor is installed on the mounting seat, a driving gear is connected to the output shaft of the speed reduction motor, and the driving gear is engaged with the driven gear.

[0015] The application discloses an integrated circuit multi-point position cooperation method using the integrated circuit multi-point position cooperation robot system, and has the steps of:

[0016] S1, one of the feeding and discharging robot arms discharges the last produced circuit board to a specified position, while the other feeding and discharging robot arm feeds the next circuit board to be produced, and the circuit board is fed into a positioning groove of a vibrating positioning seat by using a negative pressure suction disc;

[0017] S2, the vibrating positioning seat generates vibration by reciprocating linear motion, and the vibration completes the positioning of the circuit board in cooperation with the gradually changing size of the positioning groove; since the coordinate position of the vibrating positioning seat is determined in a normal state, the coordinates of each welding point on the circuit board are determined according to the coordinates of the vibrating positioning seat;

[0018] S3, one of the feeding and discharging robot arms takes the positioned circuit board by using the negative pressure suction disc, so that the circuit board is in a suspended state; at this time, the feeding and discharging robot arm only drives the circuit board to move in a vertical direction, so that the coordinates of the circuit board in a horizontal direction are unchanged; the running height of the taken circuit board is known, so that the coordinates of the circuit board in the suspended state are known;

[0019] S4, the other feeding and discharging robot arm switches a finger air cylinder to a working state, and holds the circuit board in the suspended state by using the finger air cylinder; meanwhile, the last feeding and discharging robot arm is separated from the circuit board, so that the circuit board is in the suspended state by holding;

[0020] S5, a component feeding robot arm holds the components on the specified welding hole of the circuit board, and cooperates with a welding robot arm to weld the fed components; in the process of welding the components on the circuit board, the idle feeding and discharging robot arm feeds the next circuit board into the positioning groove of the vibrating positioning seat, and preforms the positioning action on the next circuit board, so that the multi-point position cooperation action is realized.

[0021] The application has the following beneficial effects:

[0022] 1, the system adopts the alternating working mode of the double feeding and discharging robot arms; when one of the robot arms completes the discharging of the last circuit board, the other robot arm can synchronously feed the next circuit board, so that the traditional serial process of "feeding-waiting-discharging" is broken, the interval time of the feeding and discharging links is greatly shortened, and in the welding process, when the component feeding robot arm cooperates with the welding robot arm, the idle feeding and discharging robot arm can feed and position the next circuit board in advance, so that the positioning process and the welding process are realized in parallel. The synchronous mode of "welding-positioning" converts the idle time of the equipment in the traditional production into effective working time, significantly improves the continuous operation capacity of the whole production line, and greatly improves the production efficiency.

[0023] 2、Circuit board positioning assembly adopts the combined structure of vibration positioning seat and gradually changing positioning groove. The vibration positioning seat can make the circuit board automatically return to the bottom of the positioning groove accurately in the vibration process through the vibration energy generated by reciprocating motion and the gradually decreasing size design of the positioning groove along the vertical direction. At the same time, the four longitudinal positioning shafts of the positioning auxiliary device contact and limit the four corners of the circuit board from the top. Under the double action of vibration and limitation, the circuit board is quickly and stably positioned to the preset coordinate position. The coordinate position of the vibration positioning seat is fixed in normal state, so the coordinates of each soldering point on the circuit board can be accurately determined, thereby the operation track of the component soldering machine group can be accurately planned, and a solid foundation is provided for high-precision execution of component soldering, and the soldering failure rate caused by positioning deviation is effectively reduced.

[0024] 3、Full-process automatic collaborative work realizes full-process unmanned operation from circuit board feeding, positioning, component soldering to discharging. Not only the error risk caused by manual operation is reduced, but also the labor cost investment is significantly reduced, so that the production line can improve efficiency while reducing operating cost, promotes the upgrading of integrated circuit manufacturing to high automation and intelligence, and meets the needs of modern electronic manufacturing industry for efficient, accurate and low-cost production. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is a structural schematic view of an integrated circuit multi-point collaborative robot system of the application;

[0026] Figure 2 It is a structural schematic view of a positioning workbench in an integrated circuit multi-point collaborative robot system of the application;

[0027] Figure 3 It is a structural schematic view of the internal structure of a longitudinal positioning seat in an integrated circuit multi-point collaborative robot system of the application;

[0028] Figure 4 It is Figure 3 the enlarged view of A in FIG. 6;

[0029] Figure 5 It is a front view of a positioning workbench in an integrated circuit multi-point collaborative robot system of the application;

[0030] Figure 6 It is Figure 5 the sectional view of A-A in FIG. 6;

[0031] Figure 7 It is Figure 6 the enlarged view of B in FIG. 6;

[0032] Figure 8 It is a structural schematic view of a driving cam in an integrated circuit multi-point collaborative robot system of the application;

[0033] Figure 9 It is a structural schematic view of the action switching assembly in the integrated circuit multi-point cooperative robot system of the application;

[0034] Figure 10 It is a top view of the positioning workbench in the integrated circuit multi-point cooperative robot system of the application;

[0035] Figure 11 It is a structural schematic view of the action switching assembly in the integrated circuit multi-point cooperative robot system of the application; Figure 10 It is a sectional view of B-B in the above figure;

[0036] Figure 12 It is an enlarged view of C in the above figure; Figure 11

[0037] In the figure, 1 is a positioning workbench, 2 is a vibrating positioning seat, 3 is a positioning groove, 4 is an upper and lower material loading robot arm, 5 is a mounting seat, 6 is a rotating switching plate, 7 is a negative pressure suction disc, 8 is a finger air cylinder, 9 is a component loading robot arm, 10 is a welding robot arm, 11 is a positioning sliding groove, 12 is a positioning sliding seat, 13 is an extension shaft, 14 is a vibrating spring, 15 is a longitudinal positioning seat, 16 is a longitudinal positioning shaft, 17 is an inner cavity, 18 is a synchronization plate, 19 is a first air cylinder, 20 is a rack, 21 is a first anti-backward shaft, 22 is a second anti-backward shaft, 23 is a gear, 24 is an anti-backward ratchet wheel, 25 is an anti-backward pawl, 26 is a return spring, 27 is a pawl spring, 28 is a second air cylinder, 29 is a distance sensor, 30 is a support, 31 is a third air cylinder, 32 is a jacking cavity, 33 is a jacking air cylinder, 34 is a jacking plate, 35 is a negative pressure hole, 36 is a negative pressure cavity, 37 is a through hole, 38 is a switching shaft, 39 is a switching cavity, 40 is a driven gear, 41 is a speed reduction motor, 42 is a driving gear, 43 is a driving inner cavity, 44 is a collision shaft, 45 is a driving cam, 46 is a switching rod, 47 is a driving push rod, 48 is a guide groove, 49 is a spring mounting disc, 50 is a first spring, 51 is a bearing seat, 52 is a second spring, 53 is a driving main shaft, 54 is a ring-shaped notch groove, 55 is a first inclined guide groove, 56 is a second inclined guide groove, 57 is a guide piece, and 58 is a servo motor. DETAILED DESCRIPTION

[0038] The technical solutions of the application will be described in further detail below in combination with the drawings, but the protection scope of the application is not limited to the following description.

[0039] Example One

[0040] As Figures 1 to 12 ​As shown, an integrated circuit multi-point cooperative robot system includes a positioning workbench 1, the positioning workbench 1 is provided with an upper and lower clamping machine group, a component welding machine group and a circuit board positioning assembly, the circuit board positioning assembly includes a vibrating positioning seat 2, the vibrating positioning seat 2 is arranged on the positioning workbench 1, the vibrating positioning seat 2 can reciprocate in the horizontal direction to generate vibration, the top of the vibrating positioning seat 2 is provided with a positioning groove 3, the size of the positioning groove 3 gradually decreases along the vertical direction close to the positioning workbench 1, the minimum size of the positioning groove 3 matches the size of the circuit board, the upper and lower clamping machine group includes two opposite installed upper and lower robot arms 4, the execution end of the upper and lower robot arm 4 is installed with an action switching assembly, the action switching assembly includes a mounting seat 5 and a rotary switching plate 6, the mounting seat 5 is fixed on the execution end of the upper and lower robot arm 4, the rotary switching plate 6 is rotationally arranged on the mounting seat 5, the upper and lower end faces of the rotary switching plate 6 are respectively installed with a negative pressure suction cup 7 and a finger air cylinder 8, the component welding machine group includes a component feeding robot arm 9 and a welding robot arm 10, the component feeding robot arm 9 is used to feed components onto the circuit board, the welding robot arm 10 is used to weld the components fed by the component feeding robot arm 9 on the circuit board, a circuit board feeding box and a discharging conveying belt are arranged on one side of the positioning workbench 1, the circuit boards to be welded with components are stacked in the circuit board feeding box, the circuit board feeding box and the discharging conveying belt are respectively close to the two upper and lower robot arms, when the cooperative robot system operates, first, one of the upper and lower robot arms 4 takes out the circuit board in the circuit board feeding box, and uses the negative pressure suction cup 7 to adsorb and place the circuit board into the positioning groove 3 of the vibrating positioning seat 2, the vibrating positioning seat 2 reciprocates linearly to generate vibration, and the gradually changing size of the positioning groove 3 completes the positioning of the circuit board, because the coordinate position of the vibrating positioning seat 2 is determined in normal state, and the sizes of the welding points on the circuit board are designed based on one side of the circuit board as a reference, therefore, the coordinates of the welding points on the circuit board are determined based on the coordinates of the vibrating positioning seat 2 as a reference, after positioning, the one of the upper and lower robot arms 4 takes up the positioned circuit board through the negative pressure suction cup 7, so that the circuit board is in a suspended state, at this time, the upper and lower robot arm 4 only moves the circuit board in the vertical direction to ensure that the coordinates of the circuit board in the horizontal direction do not change, and the operating height of the taken-up circuit board is known, so that the coordinates of the circuit board in the suspended state are known, the other upper and lower robot arm 4 switches the finger air cylinder 8 to a working state, and holds the circuit board in the suspended state through the finger air cylinder 8, and the previous upper and lower robot arm 4 is separated from the circuit board, so that the circuit board is in a suspended state through holding, the holding ensures the stability of the circuit board, and ensures that the circuit board does not deviate during the welding of the components, the component feeding robot arm 9 clamps the components on the specified welding hole position of the circuit board, and the welding robot arm 10 welds the fed components, during the welding of the components on the circuit board,The idle loading and unloading robot arm 4 loads the next circuit board into the positioning groove 3 of the vibrating positioning seat 2, and the next circuit board is positioned in advance, which completely breaks the traditional "loading-waiting-unloading" serial process limitation, greatly shortens the interval time of the loading and unloading link. In the welding process, when the component loading robot arm and the welding robot arm work cooperatively, the idle loading and unloading robot arm can complete the loading and positioning of the next circuit board in advance, so that the positioning process and the welding process are realized in parallel. This "welding-positioning" synchronous mode converts the idle time of the equipment in the traditional production into effective working time, significantly improves the continuous operation capacity of the overall production line, and greatly improves the production efficiency. After the component welding is completed, the circuit board is unloaded on the unloading conveyor belt, and the above process is repeated to realize the batch production of circuit board components.

[0041] Embodiment Two

[0042] On the basis of Embodiment One, as shown in Figures 1 to 10 The top of the positioning workbench 1 is provided with a positioning sliding groove 11 along the length direction of the positioning workbench 1, and the positioning sliding groove 11 is slidably provided with a positioning sliding seat 12. The vibrating positioning seat 2 is installed on the positioning sliding seat 12 through screws. One end of the positioning sliding seat 12 is provided with a driving mechanism for reciprocating the positioning sliding seat 12 along the length direction of the positioning sliding groove 11 to generate vibration. The end of the positioning sliding seat 12 away from the driving mechanism is connected with an extension shaft 13, and the end of the extension shaft 13 away from the positioning sliding seat 12 is connected with the positioning workbench 1. The extension shaft 13 is sleeved with a vibrating spring 14. Under normal circumstances, the positioning sliding seat 12 is abutted against the side wall of one end of the positioning sliding groove 11 under the action of the vibrating spring 14, and is used for positioning the coordinates of each welding point on the circuit board. The vibrating positioning seat 2 is vibrated by driving the positioning sliding seat 12 to do reciprocating linear motion in the positioning sliding groove 11, and the vibrating positioning seat 2 is vibrated in cooperation with the gradually decreasing size design of the positioning groove 3 in the vertical direction, so that the circuit board can automatically return to the bottom of the positioning groove 3 accurately in the vibrating process. When the positioning of the circuit board is completed, the positioning sliding seat 12 is reset under the action of the vibrating spring 14, so that the positioning sliding seat 12 is abutted against the side wall of one end of the positioning sliding groove 11, and the positioning of each welding point on the circuit board is completed. At this time, the vibrating spring 14 is in a compressed state, and the positioning sliding seat 12 is abutted against the side wall of the positioning sliding groove 11 under the action of the vibrating spring 14, so as to keep the stability of the positioning sliding seat 12, and the compressed vibrating spring 14 can ensure the accurate reset of the positioning sliding seat 12. Secondly, the vibrating positioning seat 2 and the positioning sliding seat 12 are connected in a detachable manner. The vibrating positioning seat 2 is designed according to the model of the production circuit board, and the corresponding vibrating positioning seat 2 can be replaced for the production of different circuit boards.

[0043] Embodiment Three

[0044] On the basis of Embodiment Two, as shown in Figures 1 to 8As shown, the positioning worktable 1 has a drive cavity 43 at one end near the positioning slide 11. The drive mechanism is located inside the drive cavity 43 and includes a collision shaft 44, a drive cam 45, a switching rod 46, and a drive push rod 47. Two guide grooves 48 are spaced apart on the side wall of the drive cavity 43 along the width direction of the positioning slide 12. The guide grooves 48 are connected to the positioning slide 11. A collision shaft 44 is slidably arranged in both guide grooves 48. The end of the collision shaft 44 away from the positioning slide 12 extends into the drive cavity 43 and a spring mounting plate 49 is fixed therein. A first spring 50 is sleeved on the collision shaft 44. The two ends of the first spring 50 are respectively connected to the positioning worktable 1 and the spring mounting plate 49. A bearing seat 5 is fixed inside the drive cavity 43. 1. A switching rod 46 is slidably mounted on a bearing seat 51. The switching rod 46 has the freedom to move along the width direction of the positioning slide 12. A drive push rod 47 is slidably mounted on the switching rod 46. The drive push rod 47 alternately pushes two collision shafts 44 to impact the positioning slide 12. The end of the drive push rod 47 away from the collision shafts 44 passes through the switching rod 46 and connects to the mounting plate. A second spring 52 is sleeved on the drive push rod 47. The two ends of the second spring 52 are respectively connected to the mounting plate and the switching rod 46. A drive spindle 53 is rotatably mounted in the drive cavity 43. A drive cam 45 is fixedly mounted on the drive spindle 53. Two annular notches 54 are spaced apart on the side wall of the drive cam 45. The annular notches 54 extend along the circumference of the drive cam 45 and are located on the drive spindle 53. The proximal end of the driving cam 45 has a notch, and two annular notch grooves 54 correspond to two collision shafts 44 respectively. A first oblique guide groove 55 and a second oblique guide groove 56 are provided on the side wall of the proximal end of the driving cam 45. One end of the first oblique guide groove 55 connects to one end of the notch of one annular notch groove 54, and the other end of the first oblique guide groove 55 connects to the other end of the notch of another annular notch groove 54. One end of the second oblique guide groove 56 connects to the other end of the notch of one annular notch groove 54, and the other end of the second oblique guide groove 56 connects to one end of the notch of another annular notch groove 54. The first oblique guide groove 55 and the second oblique guide groove 56 are arranged in an X shape. A guide plate 57 is rotatably connected to the mounting plate, and the guide plate 57 slides within the annular notch groove 54. A servo motor 58 is mounted on the side wall of the worktable 1. The output shaft of the servo motor 58 is connected to the drive spindle 53. The servo motor 58 drives the drive spindle 53 to rotate, which in turn drives the drive cam 45 to rotate. The distal end of the drive cam 45 pushes up the guide plate 57, causing the drive push rod 47 to move closer to the collision shaft 44. When the proximal end of the drive cam 45 corresponds to the guide plate 57, the drive push rod 47 moves away from the collision shaft 44 under the reaction force of the second spring 52. Thus, the rotation of the drive cam 45 drives the drive push rod 47 to reciprocate. The drive push rod 47 pushes the collision shaft 44 to impact the positioning slide 12. The positioning slide 12 compresses the vibration spring 14. After the drive push rod 47 moves away from the collision shaft 44...The collision shaft 44 disengages from the positioning slide 12 and resets under the action of the first spring 50, causing the positioning slide 12 to reset under the reaction force of the vibration spring 14. The collision shaft 44 reciprocates and impacts the positioning slide 12, causing the vibration positioning seat 2 to vibrate. Specifically, since the first inclined guide groove 55 and the second inclined guide groove 56 are both arranged on the proximal end of the drive cam 45, the guide plate 57 moves within the first inclined guide groove 55, the second inclined guide groove 56, and the two annular notch grooves 54. When the guide plate 57 is located in one of the annular notch grooves... When the drive cam 45 is in the notch 54, as the distal end of the drive cam 45 rotates upward, the guide plate 57 slides within the annular notch 54 and pushes the drive push rod 47 closer to the collision shaft 44. The drive push rod 47 pushes one of the collision shafts 44 to move, and the collision shaft 44 impacts the positioning slide block 12, generating vibration. The drive cam 45 continues to rotate. When the proximal end of the drive cam 45 approaches the guide plate 57, the guide plate 57 moves into the first inclined guide groove 55. Under the influence of the first inclined guide groove 55, the drive push rod 47 is driven... The switching lever 46 moves horizontally, causing the guide plate 57 to move into another annular notch 54. At this time, another collision shaft 44 is located on the moving path of the drive push rod 47, causing the drive cam 45 to drive the drive push rod 47 to push the other collision shaft 44 to move. The collision shaft 44 moves and impacts the positioning slide 12. Then the drive cam 45 continues to rotate. When the proximal end of the drive cam 45 deflects close to the drive push rod 47, the guide plate 57 moves from the other annular notch 54 into the second oblique guide groove 56. Guided by the groove 56, the drive push rod 47 moves the switching rod 46 back to its original position, causing the drive push rod 17 to push the previous collision shaft 44 again. Thus, under the rotation of the drive cam 45, the switching rod 46 can reciprocate between the two collision shafts 44, causing the drive push rod 47 to alternately push the two collision shafts 44. This causes the two collision shafts 44 to alternately impact the positioning slide block 12, generating high-frequency vibration. This provides a good vibration effect with low vibration intensity, ensuring the circuit board completes rapid positioning within the positioning groove 3.

[0045] Example 4

[0046] Based on Example 3, such as Figures 1 to 12As shown, the positioning worktable 1 has a lifting cavity 32, and a lifting mechanism is installed inside the lifting cavity 32. The lifting mechanism includes a lifting cylinder 33 and a lifting plate 34. The lifting cylinder 33 is vertically installed on the positioning worktable 1, and the telescopic shaft of the lifting cylinder 33 is connected to the lifting plate 34. Several negative pressure holes 35 are opened on the top of the lifting plate 34, and a negative pressure cavity 36 is provided inside the lifting plate 34. The negative pressure holes 35 are connected to the negative pressure cavity 36. A through hole 37 is opened at the bottom of the positioning groove 3, which is connected to the lifting cavity 32. The lifting plate 34 extends out from the through hole 37 to lift the circuit board. Since the circuit board is positioned at the bottom of the positioning groove 3, and the finger cylinder 8 is horizontally clamping the circuit board, the finger cylinder 8 cannot clamp the circuit board in the positioning groove 3. Therefore, when After the circuit board is positioned, the lifting cylinder 33 drives the lifting plate 34 to move upward. The lifting plate 34 and the negative pressure suction cup 7 are both connected to negative pressure equipment, such as a negative pressure pump, through pipes. After the lifting plate 34 contacts the circuit board, it adsorbs the circuit board through negative pressure to prevent the circuit board from shifting. The lifting plate 34 pushes the circuit board out of the positioning groove 3, and then the circuit board is clamped by the finger cylinder 8 of one of the loading and unloading robot arms 4, so that the circuit board is in a suspended state. This makes it convenient for the component loading robot arm 9 to load the components above the circuit board, while the welding robot arm 10 performs welding below the circuit board. Through collaborative operation, the working time of each unit overlaps, which greatly improves the production efficiency of component welding on the circuit board.

[0047] Furthermore, a switching shaft 38 is fixed to one end of the rotating switching plate 6 near the mounting base 5. The switching shaft 38 is rotatably connected to the mounting base 5 via a bearing. The axis of the switching shaft 38 is horizontally set. The mounting base 5 is provided with a switching cavity 39. One end of the switching shaft 38 passes through the switching cavity 39 and is connected to a driven gear 40. A reduction motor 41 is mounted on the mounting base 5. The output shaft of the reduction motor 41 is connected to a drive gear 42. The drive gear 42 meshes with the driven gear 40. The reduction motor 41 drives the switching shaft 38 to rotate through the meshing of the drive gear 42 and the driven gear 40, thereby rotating the negative pressure suction cup 7 to the lower position for operation, or rotating the finger cylinder 8 to the lower position for operation, enabling the switching of circuit board negative pressure adsorption loading and unloading and circuit board clamping actions.

[0048] Example 5

[0049] Although vibration is used to adjust the posture of the circuit board and move it to the bottom of the positioning groove 3 for positioning, vibration has uncontrollable factors. That is, after the circuit board moves to the bottom of the positioning groove 3, the vibration cannot stop immediately, and subsequent vibration force may cause the circuit board to shift, resulting in a tilted or upward-curved state and positioning failure. Therefore, based on embodiment four, as follows... Figures 1 to 4As shown, a positioning auxiliary device is provided on the positioning worktable 1. The positioning auxiliary device includes a longitudinal positioning seat 15 and longitudinal positioning shafts 16. The longitudinal positioning seat 15 has a degree of freedom of movement in the horizontal direction and can move to directly above the vibrating positioning seat 2. Four longitudinal positioning shafts 16 are slidably inserted through the bottom of the longitudinal positioning seat 15. The four longitudinal positioning shafts 16 correspond to the four corner positions of the minimum dimension of the positioning groove 3, respectively. The four longitudinal positioning shafts 16 move downward synchronously under their own gravity. Under the vibration of the vibrating positioning seat 2 and the contact limitation of the longitudinal positioning shafts 16, The circuit board is gradually positioned to the bottom of the positioning groove 3. A distance sensor 29 is installed on the inner bottom wall of the inner cavity 17. The distance sensor 29 determines whether the circuit board has completed positioning by detecting the position and height of the synchronization plate 18. A support 30 is installed on the positioning worktable 1. A third cylinder 31 is horizontally installed on the top of the support 30. The telescopic shaft of the third cylinder 31 is connected to the longitudinal positioning seat 15. The third cylinder 31 drives the longitudinal positioning seat 15 to move horizontally. When the circuit board is unloaded or loaded, the longitudinal positioning seat 15 is located on one side of the vibration positioning seat 2, so that the circuit board can be unloaded or loaded smoothly. When the circuit board is vibrated for positioning, the longitudinal positioning seat 15 moves to the top of the vibration positioning seat 2, and the four longitudinal positioning shafts 16 move downward to contact the circuit board. The bottom of the longitudinal positioning shafts 16 is fixed with an elastic pad. Since the circuit board is tilted, not all four longitudinal positioning shafts 16 will contact the circuit board, but one of them will always contact the circuit board to limit it and prevent the circuit board from moving upward and tilting under the vibration. At this time, the vibration positioning seat 2 vibrates. Due to the restriction of the longitudinal positioning shafts 16, the circuit board can only move downward under the vibration. The longitudinal positioning shafts 16 follow the circuit board under their own weight, so that the longitudinal positioning shafts 16 always keep in contact with the circuit board. Thus, by gradually limiting the longitudinal position, the circuit board can only move towards the bottom of the positioning groove 3 under the vibration and will not vibrate back and tilt. This allows the circuit board to move quickly and accurately to the bottom of the positioning groove 3. The distance sensor 29 detects the distance that the synchronous plate 18 moves downward, thereby determining whether the circuit board has been positioned. After positioning, the vibration positioning seat 2 stops vibrating, and the longitudinal positioning seat 15 moves to one side of the vibration positioning seat 2 to perform the soldering operation of the circuit board components.

[0050] Example 6

[0051] Based on Example 5, such as Figures 1 to 4As shown, the longitudinal positioning seat 15 has an inner cavity 17, and a synchronization plate 18 is installed inside the inner cavity 17. Four longitudinal positioning shafts 16 are inserted into the inner cavity 17 and connected to the synchronization plate 18. A first cylinder 19 is vertically installed below the synchronization plate 18 and is installed inside the inner cavity 17. The first cylinder 19 is used to lift the synchronization plate 18 upward and move it back to its original position. An anti-reverse mechanism is installed inside the inner cavity 17. The anti-reverse mechanism includes a rack 20, a first anti-reverse shaft 21, and a second anti-reverse shaft 22. The rack 20 is vertically fixed to the top of the synchronization plate 18. The first anti-reverse shaft 21 and the second anti-reverse shaft 22 are rotatably connected to the longitudinal positioning seat 15. A gear 23 and an anti-reverse ratchet 24 are fixedly mounted on the first anti-reverse shaft 21. The gear 23 meshes with the rack 20. An anti-reverse pawl 25 is rotatably mounted on the second anti-reverse shaft 22. A return spring 26 is mounted on the second anti-reverse shaft 22. The two ends of the return spring 26 are respectively connected to the anti-reverse pawl 25 and the longitudinal positioning seat 15. A pawl spring 27 is connected to the outer arc end of the anti-reverse pawl 25. The end of the pawl spring 27 away from the anti-reverse pawl 25 is connected to the longitudinal positioning seat 15. Under the combined action of the return spring 26 and the pawl spring 27, the anti-reverse pawl 25 is fitted into the ratchet groove of the anti-reverse ratchet 24 to limit the upward movement of the synchronization plate 18. A second cylinder 28 is installed on the side wall of the longitudinal positioning seat 15. The anti-reverse pawl 25 is located on the moving path of the telescopic shaft of the second cylinder 28. Initially, the second cylinder 28 pushes the anti-reverse pawl 25 to disengage from the anti-reverse pawl. Ratchet 24 unlocks the upward movement freedom of the synchronization plate 18. The first cylinder 19 drives the synchronization plate 18 upward, causing it to synchronously move the four longitudinal positioning shafts 16 upward, placing them above the vibration positioning seat 2. Then, the second cylinder 28 moves away from the anti-reverse pawl 25, which is reset by the return spring 26, fitting into the ratchet groove of the anti-reverse ratchet 24. The engagement of the anti-reverse pawl 25 and the anti-reverse ratchet 24 restricts the clockwise rotational freedom of the first anti-reverse shaft 21, allowing it to rotate only counter-clockwise. The engagement of gear 23 and rack 20 connects the synchronization plate 18 to the first anti-reverse shaft 21, enabling the synchronization plate 18 to move upward. The circuit board can only move downwards. When positioning the circuit board, the longitudinal positioning seat 15 moves directly above the vibration positioning seat 2, the first cylinder 19 moves downwards, and the synchronous plate 18 moves downwards under its own weight, causing the four longitudinal positioning shafts 16 to move downwards synchronously. The first cylinder 19 retracts to separate from the synchronous plate 18, and the longitudinal positioning shafts 16 contact the circuit board. Under vibration, the longitudinal positioning shafts 16 follow the downward movement of the circuit board. Because the upward movement freedom of the longitudinal positioning shafts 16 is restricted, the circuit board cannot shift upwards under vibration and can only move downwards. Under the action of the elastic pad, the circuit board can vibrate under the action of the vibration positioning seat 2 without interfering with the longitudinal positioning shafts 16, allowing the circuit board to be accurately and quickly fitted into the positioning groove 3. After positioning is completed...The second cylinder 28 causes the anti-reverse pawl 25 to separate from the anti-reverse ratchet 24, unlocking the upward movement freedom of the synchronization plate 18. The first cylinder 19 moves upward, pushing the synchronization plate 18 to move upward and reset. The synchronization plate 18 drives the longitudinal positioning shaft 16 to move out of the positioning groove 3. Finally, the third cylinder 31 drives the longitudinal positioning seat 15 to move to one side of the vibration positioning seat 2, allowing the circuit board to be smoothly removed from the positioning groove 3 for component soldering.

[0052] Example 7

[0053] A multi-point collaborative method for integrated circuits, utilizing the aforementioned multi-point collaborative robot system for integrated circuits, includes the following steps:

[0054] S1. One of the loading and unloading robot arms 4 unloads the previously produced circuit board to the designated position. At the same time, the other loading and unloading robot arm 4 loads the next circuit board to be produced. The negative pressure suction cup 7 is used to load the circuit board into the positioning groove 3 of the vibration positioning seat 2.

[0055] S2. The vibration positioning seat 2 generates vibration by reciprocating linear motion, which, together with the gradual deformation size of the positioning groove 3, completes the positioning of the circuit board. Since the coordinate position of the vibration positioning seat 2 is determined under normal conditions, the coordinates of each soldering point on the circuit board are determined based on the coordinates of the vibration positioning seat 2.

[0056] S3. One of the loading and unloading robot arms 4 uses a negative pressure suction cup 7 to pick up the positioned circuit board, so that the circuit board is in a suspended state. At this time, the loading and unloading robot arm 4 only moves the circuit board in the vertical direction to ensure that the coordinates of the circuit board in the horizontal direction remain unchanged. The lifting height of the circuit board is known, so the coordinates of the circuit board in the suspended state are known.

[0057] S4. Another loading and unloading robot arm 4 switches the finger cylinder 8 to the working state and clamps the suspended circuit board through the finger cylinder 8. The previous loading and unloading robot arm 4 then disengages from the circuit board, so that the circuit board is suspended in the air by clamping.

[0058] S5. The component loading robot arm 9 clamps the component and places it on the designated soldering hole of the circuit board. It works with the welding robot arm 10 to weld the loaded component. During the component welding process on the circuit board, the idle loading and unloading robot arm 4 loads the next circuit board into the positioning groove 3 of the vibration positioning seat 2 and performs a positioning action on the next circuit board in advance to achieve multi-point coordinated action.

Claims

1. An integrated circuit multi-point collaborative robot system, characterized in that, The system includes a positioning worktable (1), on which a loading and unloading clamping unit, a component welding unit, and a circuit board positioning assembly are provided. The circuit board positioning assembly includes a vibration positioning seat (2), which is mounted on the positioning worktable (1). The vibration positioning seat (2) can reciprocate in the horizontal direction to generate vibration. A positioning groove (3) is provided on the top of the vibration positioning seat (2). The size of the positioning groove (3) gradually decreases along the vertical direction close to the positioning worktable (1). The minimum size of the positioning groove (3) matches the size of the circuit board. The loading and unloading clamping unit includes two oppositely mounted loading and unloading robot arms (4). The execution end of the robot arm (4) is equipped with an action switching component, which includes a mounting base (5) and a rotating switching plate (6). The mounting base (5) is fixed on the execution end of the robot arm (4), and the rotating switching plate (6) is rotatably mounted on the mounting base (5). The upper and lower end faces of the rotating switching plate (6) are respectively equipped with a negative pressure suction cup (7) and a finger cylinder (8). The component welding unit includes a component loading robot arm (9) and a welding robot arm (10). The component loading robot arm (9) is used to load components onto the circuit board, and the welding robot arm (10) is used to weld the components loaded by the component loading robot arm (9) onto the circuit board.

2. The integrated circuit multi-point collaborative robot system according to claim 1, characterized in that, The top of the positioning workbench (1) is provided with a positioning groove (11) along its own length direction. A positioning slide (12) is slidably arranged in the positioning groove (11). The vibration positioning seat (2) is installed on the positioning slide (12) by screws. A driving mechanism is provided at one end of the positioning slide (12). The driving mechanism is used to make the positioning slide (12) reciprocate along the length direction of the positioning groove (11) to generate vibration.

3. The integrated circuit multi-point collaborative robot system according to claim 2, characterized in that, The end of the positioning slide (12) away from the drive mechanism is connected to a telescopic shaft (13), and the end of the telescopic shaft (13) away from the positioning slide (12) is connected to the positioning worktable (1). A vibration spring (14) is fitted on the telescopic shaft (13). Under normal conditions, the positioning slide (12) abuts against the side wall of one end of the positioning groove (11) under the action of the vibration spring (14) to locate the coordinates of each welding point on the circuit board.

4. The integrated circuit multi-point collaborative robot system according to claim 1, characterized in that, The positioning workbench (1) is provided with a positioning auxiliary device, which includes a longitudinal positioning seat (15) and a longitudinal positioning shaft (16). The longitudinal positioning seat (15) has a degree of freedom of movement in the horizontal direction. The longitudinal positioning seat (15) can move to the top of the vibration positioning seat (2). Four longitudinal positioning shafts (16) are slidably passed through the bottom of the longitudinal positioning seat (15). The four longitudinal positioning shafts (16) correspond to the four corner positions of the minimum size of the positioning groove (3). The four longitudinal positioning shafts (16) move downward synchronously under their own gravity. Under the vibration of the vibration positioning seat (2) and the contact limit of the longitudinal positioning shafts (16), the circuit board is gradually positioned to the bottom of the positioning groove (3).

5. The integrated circuit multi-point collaborative robot system according to claim 4, characterized in that, The longitudinal positioning seat (15) is provided with an inner cavity (17), and a synchronization plate (18) is provided in the inner cavity (17). The four longitudinal positioning shafts (16) are all inserted into the inner cavity (17) and connected to the synchronization plate (18). A first cylinder (19) is vertically arranged below the synchronization plate (18). The first cylinder (19) is installed in the inner cavity (17) and is used to lift the synchronization plate (18) to move upward and reset.

6. The integrated circuit multi-point collaborative robot system according to claim 5, characterized in that, An anti-reverse mechanism is provided inside the inner cavity (17). The anti-reverse mechanism includes a rack (20), a first anti-reverse shaft (21), and a second anti-reverse shaft (22). The rack (20) is vertically fixed to the top of the synchronization plate (18). The first anti-reverse shaft (21) and the second anti-reverse shaft (22) are rotatably connected to the longitudinal positioning seat (15). A gear (23) and an anti-reverse ratchet (24) are fixedly mounted on the first anti-reverse shaft (21). The gear (23) meshes with the rack (20). An anti-reverse pawl (25) is rotatably mounted on the second anti-reverse shaft (22). A return spring (26) is mounted on the second anti-reverse shaft (22). The two ends of the return spring (26) are respectively connected to the anti-return pawl (25) and the longitudinal positioning seat (15). The outer arc end of the anti-return pawl (25) is connected to the pawl spring (27). The end of the pawl spring (27) away from the anti-return pawl (25) is connected to the longitudinal positioning seat (15). Under the combined action of the return spring (26) and the pawl spring (27), the anti-return pawl (25) is adapted to the ratchet groove of the anti-return ratchet (24) to limit the upward movement of the synchronization plate (18). The side wall of the longitudinal positioning seat (15) is equipped with a second cylinder (28). The anti-return pawl (25) is located on the moving path of the telescopic shaft of the second cylinder (28).

7. The integrated circuit multi-point collaborative robot system according to claim 6, characterized in that, A distance sensor (29) is installed on the inner bottom wall of the inner cavity (17). The distance sensor (29) determines whether the circuit board has completed positioning by detecting the position height of the synchronization plate (18). A support (30) is installed on the positioning worktable (1). A third cylinder (31) is horizontally installed on the top of the support (30). The telescopic shaft of the third cylinder (31) is connected to the longitudinal positioning seat (15).

8. The integrated circuit multi-point collaborative robot system according to claim 1, characterized in that, The positioning workbench (1) is provided with a lifting cavity (32), and the lifting cavity (32) is provided with a lifting mechanism. The lifting mechanism includes a lifting cylinder (33) and a lifting plate (34). The lifting cylinder (33) is vertically installed on the positioning workbench (1). The telescopic shaft of the lifting cylinder (33) is connected to the lifting plate (34). The top of the lifting plate (34) is provided with several negative pressure holes (35). The lifting plate (34) is provided with a negative pressure cavity (36). The negative pressure holes (35) are connected to the negative pressure cavity (36). The bottom of the positioning groove (3) is provided with a through hole (37) that connects to the lifting cavity (32). The lifting plate (34) extends out from the through hole (37) to lift the circuit board.

9. The integrated circuit multi-point collaborative robot system according to claim 1, characterized in that, The rotating switching plate (6) has a switching shaft (38) fixed at one end near the mounting base (5). The switching shaft (38) is rotatably connected to the mounting base (5) through a bearing. The axis of the switching shaft (38) is horizontal. The mounting base (5) has a switching cavity (39). One end of the switching shaft (38) passes through the switching cavity (39) and is connected to a driven gear (40). A geared motor (41) is mounted on the mounting base (5). The output shaft of the geared motor (41) is connected to a driving gear (42). The driving gear (42) meshes with the driven gear (40).

10. A method for multi-point collaborative operation of integrated circuits, utilizing the multi-point collaborative robot system of integrated circuits as described in claim 1, characterized in that, Includes the following steps: S1. One of the loading and unloading robot arms (4) unloads the previously produced circuit board to the designated position. At the same time, another loading and unloading robot arm (4) loads the next circuit board to be produced. The negative pressure suction cup (7) is used to load the circuit board into the positioning groove (3) of the vibration positioning seat (2). S2. The vibration positioning seat (2) generates vibration by reciprocating linear motion, and completes the positioning of the circuit board by cooperating with the gradual deformation size of the positioning groove (3). Since the coordinate position of the vibration positioning seat (2) is determined under normal conditions, the coordinates of each soldering point on the circuit board are determined based on the coordinates of the vibration positioning seat (2). S3. One of the loading and unloading robot arms (4) picks up the positioned circuit board through the negative pressure suction cup (7), so that the circuit board is in a suspended state. At this time, the loading and unloading robot arm (4) only drives the circuit board to move in the vertical direction, ensuring that the coordinates of the circuit board in the horizontal direction remain unchanged. The lifting height of the circuit board is known, so that the coordinates of the circuit board in the suspended state are known. S4. Another loading and unloading robot arm (4) switches the finger cylinder (8) to the working state and clamps the suspended circuit board through the finger cylinder (8). The previous loading and unloading robot arm (4) then disengages from the circuit board, so that the circuit board is suspended in the air by clamping. S5. The component loading robot arm (9) clamps the component and places it on the designated welding hole of the circuit board. The welding robot arm (10) then welds the loaded component. During the component welding process on the circuit board, the idle loading and unloading robot arm (4) loads the next circuit board into the positioning groove (3) of the vibration positioning seat (2) and performs a positioning action on the next circuit board in advance to achieve multi-point coordinated action.

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