Welding method and welding auxiliary equipment

Abstract

The invention discloses a welding method and welding auxiliary equipment, the welding auxiliary equipment comprises a limiting mechanism and a moving mechanism, the limiting mechanism is provided with a limiting area so that a to-be-welded object can be limited through the limiting area, and the moving mechanism comprises a vacuum adsorption part, a moving mechanical arm and a driving device; the moving mechanical arm is connected with the vacuum adsorption part and the driving device, and the moving mechanism is used for adsorbing the to-be-welded object in the limiting area through the vacuum adsorption part and moving the to-be-welded object to the welding area for welding through the moving mechanical arm driven by the driving device. In this way, welding materials on the welding face can be easily avoided, the process is simple and efficient, and the welding efficiency of the to-be-welded object can be improved.

Description

Technical Field

[0001] This invention applies to the technical field of device welding, particularly welding methods and welding auxiliary equipment. Background Technology

[0002] A photon detector is a device used in medical CT (computed tomography) and is one of the most important components of a CT machine. It can directly receive X-rays and convert them into electrical pulses, which are then converted into CT images through a series of image processing techniques for doctors to analyze the condition.

[0003] The photoelectric conversion crystal of the photon detector needs to be soldered and fixed to the electrical substrate for connection.

[0004] Currently, the welding process between photoelectric conversion crystals and electrical substrates is quite complex. Summary of the Invention

[0005] This invention provides a welding method and welding auxiliary equipment to solve the problem of complex welding steps.

[0006] To solve the above-mentioned technical problems, the present invention provides a welding auxiliary device, including: a limiting mechanism and a moving mechanism. The limiting mechanism is provided with a limiting area to limit the object to be welded. The moving mechanism includes a vacuum adsorption component, a moving robotic arm, and a driving device. The moving robotic arm is connected to the vacuum adsorption component and the driving device, respectively. The moving mechanism is used to adsorb the object to be welded in the limiting area by the vacuum adsorption component, and to move the object to be welded to the welding area by the moving robotic arm driven by the driving device for welding.

[0007] The limiting area is a limiting groove; a hollow area is formed on part of the bottom of the limiting groove; the vacuum adsorption component adsorbs the adsorption surface of the object to be welded in the limiting area by passing through the hollow area.

[0008] The limiting groove has a wall that is vertically arranged around the bottom edge of the groove. The groove wall is used to limit the side wall of the object to be welded, and the bottom of the groove is used to limit the adsorption surface of the object to be welded. An opening area is formed on the groove wall. The hollow area is connected to the opening area. When the vacuum adsorption component removes the object to be welded, the vacuum adsorption component moves from the hollow area to the opening area to remove the object to be welded from the limiting area.

[0009] The shape of the limiting area matches the shape of the object to be welded.

[0010] The mobile robotic arm includes a first connecting rod, a second connecting rod, and a third connecting rod; one end of the first connecting rod is connected to a driving device, and the end of the first connecting rod away from the driving device is hinged to one end of the second connecting rod; the end of the second connecting rod away from the first connecting rod is hinged to one end of the third connecting rod, and the end of the third connecting rod away from the second connecting rod is connected to a vacuum adsorption component.

[0011] The moving mechanism also includes an identifier, which is connected to both the drive unit and the vacuum adsorption component. The identifier is used to identify the adsorption surface of the object to be welded, so that the drive unit drives the moving robotic arm to control the vacuum adsorption component to adsorb the adsorption surface of the object to be welded.

[0012] To solve the above-mentioned technical problems, the present invention provides a welding method, which performs welding using welding auxiliary equipment as described above, including: obtaining the object to be welded, and placing the object to be welded on the limiting area of ​​the limiting mechanism by the moving mechanism of the welding auxiliary equipment for limiting; applying welding material to the welding surface of the object to be welded after limiting; and moving the object to be welded to the welding area by the moving mechanism for welding.

[0013] The process of moving the object to be welded to the welding area via a moving mechanism includes: using the vacuum adsorption component of the moving mechanism to adsorb and fix the adsorption surface of the object to be welded; and using the driving device of the moving mechanism to drive the moving robotic arm to move the object to be welded to the welding area for welding.

[0014] The process of moving a robotic arm by driving a moving mechanism to move the object to be welded to the welding area includes: driving the robotic arm by driving a moving mechanism to move the object to be welded out of the limiting area and flipping the object to be welded so that the direction of the adsorption surface of the object to be welded toward the welding surface is the same as the direction of gravity; and making the welding material of the welding surface of the object to be welded into contact with the pads of the substrate in the welding area to perform welding, wherein, during welding, the direction of the welding surface of the object to be welded toward the pads of the substrate is the same as the direction of gravity.

[0015] The process of adsorbing and fixing the adsorption surface of the object to be welded using the vacuum adsorption component of the moving mechanism includes: identifying the adsorption surface of the object to be welded using the identifier of the moving mechanism, and adsorbing and fixing the adsorption surface of the object to be welded using the vacuum adsorption component; and making the welding material of the welding surface of the object to be welded into contact with the corresponding pads of the substrate in the welding area for welding, which includes: identifying the pads of the substrate using the identifier of the moving mechanism, and controlling the moving robotic arm to make the welding material of the welding surface of the object to be welded into contact with the corresponding pads of the substrate in the welding area for welding.

[0016] To solve the above-mentioned technical problems, the welding auxiliary equipment of the present invention fixes the position of the object to be welded through a limiting mechanism. After the welding material is printed on the welding surface of the object to be welded, the object to be welded is adsorbed by a vacuum adsorption component, and the moving robotic arm is driven by a driving device to move the object to be welded to the welding area for welding. Thus, the setting of the vacuum adsorption component enables single-sided picking of the object to be welded, which can easily avoid the welding material on the welding surface. This process is simple and efficient, which helps to improve the welding efficiency of the object to be welded and provides a production method that can be automated for large-scale production. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of an embodiment of the welding auxiliary equipment provided by the present invention;

[0018] Figure 2 This is a top view of one embodiment of the limiting mechanism;

[0019] Figure 3 This is a side cross-sectional view of one embodiment of the limiting mechanism;

[0020] Figure 4 for Figure 1 A schematic diagram of the extended robotic arm of China Mobile.

[0021] Figure 5 This is a schematic flowchart of an embodiment of the welding method provided by the present invention;

[0022] Figure 6 This is a schematic diagram of one embodiment of welding the object to be welded to the electrical substrate. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0025] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0026] Please see Figure 1 , Figure 1 This is a schematic diagram of an embodiment of the welding auxiliary equipment provided by the present invention.

[0027] The welding auxiliary equipment 100 in this embodiment includes: a limiting mechanism 110 and a moving mechanism 120.

[0028] The limiting mechanism 110 is used to accurately limit the position of the object to be welded, so as to accurately print welding material on the welding surface of the object and facilitate accurate picking up by the subsequent moving mechanism 120. Specifically, the limiting mechanism 110 is provided with a limiting area 111 to limit the object to be welded. The object to be welded may include, but is not limited to, photoelectric conversion crystals, electrical substrates, or other welding objects. The position of the limiting mechanism 110 is fixed.

[0029] The moving mechanism 120 includes a vacuum adsorption component 122, a moving robotic arm 123, and a driving device 121. The moving robotic arm 123 is connected to the vacuum adsorption component 122 and the driving device 121 respectively. The moving mechanism 120 is used to adsorb the object to be welded in the limiting area 111 by the vacuum adsorption component 122, and to move the object to be welded to the welding area for welding by the moving robotic arm 123 driven by the driving device 121.

[0030] When the vacuum adsorption component 122 adsorbs the object to be welded, it can adsorb any side of the object to be welded except the welding surface, and the position of the object to be welded can be changed by the movement of the moving robotic arm 123. This process is simple and efficient, which helps to improve the welding efficiency of the object to be welded.

[0031] With the above structure, the welding auxiliary equipment of this embodiment fixes the position of the object to be welded through the limiting mechanism. After the welding material is printed on the welding surface of the object to be welded, the object to be welded is adsorbed by the vacuum adsorption component, and the moving robotic arm is driven by the driving device to move the object to be welded to the welding area for welding. Thus, the setting of the vacuum adsorption component realizes the single-sided picking of the object to be welded, which can easily avoid the welding material on the welding surface. This process is simple and efficient, which helps to improve the welding efficiency of the object to be welded and provides a production method that can be automated for mass production of the object to be welded.

[0032] Please refer to further information. Figures 2-3 , Figure 2 This is a top view of one embodiment of the limiting mechanism. Figure 3 This is a side cross-sectional view of one embodiment of the limiting mechanism.

[0033] In some embodiments, the limiting region 111 is a limiting groove 116; the object to be welded 200 is placed in the limiting groove 116 to limit the object to be welded 200.

[0034] A hollow area 112 is formed on part of the bottom 113 of the limiting groove 116. The vacuum adsorption component 122 adsorbs the adsorption surface 202 of the object to be welded 200 in the limiting area 111 by passing through the hollow area 112.

[0035] In this context, the adsorption surface 202 of the object to be welded 200 is the opposite surface of its welding surface 201. The welding surface 201 is oriented away from the bottom of the tank 113 to facilitate the printing of welding materials, while the adsorption surface 202 is oriented towards the bottom of the tank 113 so that the vacuum adsorption component 122 can be adsorbed through the hollow area 112.

[0036] A hollow area 112 is formed on part of the bottom 113 of the limiting groove 116. The hollow area 112 not only reserves the adsorption space of the vacuum adsorption component 122, but also uses other parts of the bottom 113 to limit the adsorption surface 202 of the object to be welded 200.

[0037] In some embodiments, the groove wall 115 of the limiting groove 116 is vertically disposed around a portion of the edge of the groove bottom 113. The groove wall 115 is used to limit the sidewall of the object to be welded 200, and the groove bottom 113 is used to limit the adsorption surface 202 of the object to be welded. When the object to be welded 200 is limited, the groove wall 115 contacts the sidewall of the object to be welded 200 in at least two adjacent directions, thereby utilizing the limiting groove 116 for multi-directional limiting.

[0038] An opening region 114 is formed on the groove wall 115; the hollow region 112 is connected to the opening region 114.

[0039] When the vacuum adsorption component 122 removes the object to be welded 200, the vacuum adsorption component 122 moves from the hollow area 112 to the opening area 114 to remove the object to be welded 200 from the limiting area 111.

[0040] By setting a portion of the groove wall 115 and an opening area 114, it is convenient for the vacuum adsorption component 122 to be removed from the object to be welded 200, and the portion of the groove wall 115 can be used to limit the side wall of the object to be welded 200.

[0041] In some embodiments, the shape of the groove wall 115 matches the shape of the object to be welded 200 in order to provide accurate positioning.

[0042] In a specific application scenario, when the object to be welded 200 is square, the shape of the groove wall 115 is also square. In another specific application scenario, when the object to be welded 200 is circular, the shape of the groove wall 115 is also circular. And so on, without further elaboration.

[0043] By matching the shape of the groove wall 115 with the shape of the object to be welded 200, the object to be welded 200 is fully fitted, thereby further improving the positioning accuracy of the object to be welded 200.

[0044] In some embodiments, please review Figure 1 The mobile robotic arm 123 includes a first connecting rod 1231, a second connecting rod 1232, and a third connecting rod 1233.

[0045] One end of the first connecting rod 1231 is connected to the driving device 121, and the end of the first connecting rod 1231 away from the driving device 121 is hinged to one end of the second connecting rod 1232.

[0046] The end of the second connecting rod 1232 away from the first connecting rod 1231 is hinged to one end of the third connecting rod 1233, and the end of the third connecting rod 1233 away from the second connecting rod 1232 is connected to the vacuum adsorption component 122.

[0047] In this embodiment, the mobile robotic arm 123 has two hinge points 1234. By bending or straightening the second connecting rod 1232 and the third connecting rod 1233, the vacuum adsorption component 122 can be flipped, thereby causing the object to be welded to flip for welding. For specific welding methods, please refer to the following embodiment of the welding method.

[0048] Please refer to further information. Figure 4 , Figure 4 for Figure 1 A schematic diagram of the extended robotic arm.

[0049] When the mobile robotic arm 123 adsorbs the object to be welded 200 through the hollow area 112, the first connecting rod 1231 and the second connecting rod 1232 are vertically set through the corresponding hinge point 1234, the second connecting rod 1232 and the third connecting rod 1233 are vertically set through the corresponding hinge point 1234, and the first connecting rod 1231 and the third connecting rod 1233 are located on the same side of the second connecting rod 1232. At this time, the suction nozzle 1221 of the vacuum adsorption component 122 is set in a direction away from the direction of gravity.

[0050] When the mobile robotic arm 123 moves the object to be welded 200 to the welding area for welding, the first connecting rod 1231, the second connecting rod 1232 and the third connecting rod 1233 are arranged in sequence on the same straight line through two hinge points 1234. At this time, the suction nozzle 1221 of the vacuum adsorption component 122 is oriented towards the direction closer to gravity.

[0051] By setting up the first connecting rod 1231, the second connecting rod 1232, the third connecting rod 1233, and the two hinge points 1234, the vacuum adsorption component 122 can be flipped, thereby causing the object to be welded to flip so as to perform the corresponding welding.

[0052] In some embodiments, the moving mechanism 120 further includes an identifier (not shown), which is connected to both the driving device 121 and the vacuum adsorption member 122. The identifier is used to identify the adsorption surface of the object to be welded, so that the driving device 121 drives the moving robotic arm 123 to control the vacuum adsorption member 122 to adsorb the adsorption surface of the object to be welded. The identifier can also identify the electrical substrate of the welding area, so that the driving device 121 drives the moving robotic arm 123 to align and weld the object to be welded by the vacuum adsorption member 122 with the electrical substrate.

[0053] The accuracy of the adsorption position of the vacuum adsorption component 122 is improved by setting an identifier, as well as the accuracy of the alignment and welding between the object to be welded and the electrical substrate.

[0054] With the above structure, the welding auxiliary equipment of this embodiment fixes the position of the object to be welded through a limiting mechanism. After the welding material is printed on the welding surface of the object, the object is adsorbed by a vacuum adsorption component, and a driving device drives a moving robotic arm to move the object to be welded to the welding area for welding. The vacuum adsorption component allows for single-sided handling of the object, easily avoiding welding material on the welding surface. This process is simple and efficient, improving welding efficiency and providing a mass-production automated method for welding the object. Furthermore, the hollow and open areas of the limiting groove facilitate the adsorption and removal of the object by the vacuum adsorption component, and the groove walls and bottom limit the sidewalls of the object to be welded. The first, second, and third connecting rods and the two hinge points allow the vacuum adsorption component to flip, thereby flipping the object to be welded for welding, providing a novel inverted method for interconnecting the object to be welded with the electrical substrate.

[0055] Please see Figure 5 , Figure 5 This is a schematic flowchart of an embodiment of the welding method provided by the present invention. The welding method of this embodiment can be applied to the welding auxiliary equipment of any of the above embodiments.

[0056] Step S11: Obtain the object to be welded, and place the object to be welded on the limiting area of ​​the limiting mechanism through the moving mechanism of the welding auxiliary equipment for limiting.

[0057] The object to be welded in this embodiment is a photoelectric conversion crystal, including but not limited to cadmium zinc telluride (CZT) crystal, cadmium telluride (CdTe) crystal, gallium arsenide crystal, and single-crystal silicon.

[0058] The moving mechanism of the welding auxiliary equipment places the object to be welded onto the limiting area of ​​the limiting mechanism for limiting. During limiting, the moving mechanism needs to limit the object to be welded along the x, y, and z axes through the limiting area.

[0059] In a specific application scenario, combined with Figure 2-3 When the limiting area is the limiting groove 116, the position of the object to be welded 200 on the z-axis is limited by the bottom 113 of the limiting groove 116, and the position of the object to be welded 200 on the x-axis and y-axis is limited by the groove wall 115 of the limiting groove 116.

[0060] The moving mechanism can use a vacuum adsorption component to adsorb the object to be welded and place it on the limiting area of ​​the limiting mechanism. Then, the moving robotic arm can push the object to be welded until it is in contact with the limiting mechanism in all three axes, thus completing the limiting.

[0061] Step S12: Apply welding material to the welding surface of the object to be welded after the limit is set.

[0062] In one specific application scenario, a welding material array can be applied to the welding surface of the object to be welded after being positioned using stencil printing. In another specific application scenario, a welding material array can be applied to the welding surface of the object to be welded after being positioned using spot welding.

[0063] Soldering materials include, but are not limited to, silver paste, indium and alloy materials, solder paste, etc.

[0064] When setting the welding material, the welding surface of the object to be welded should be positioned away from the direction of gravity.

[0065] Step S13: Move the object to be welded to the welding area using the moving mechanism for welding.

[0066] A driving device drives a mobile robotic arm to move a vacuum adsorption component and the object to be welded thereto to the welding area. An electrical substrate is placed within the welding area, and the welding material of the object to be welded is aligned and welded to the pads on the electrical substrate to achieve welding between the object and the electrical substrate.

[0067] Through the above steps, the welding method of this embodiment obtains the object to be welded and places it on the limiting area of ​​the limiting mechanism through the moving mechanism of the welding auxiliary equipment for limiting. Welding material is then applied to the welding surface of the object after limiting. The moving mechanism moves the object to be welded to the welding area for welding. By setting up a vacuum adsorption component, the object to be welded can be picked up from one side, easily avoiding welding material on the welding surface. This process is simple and efficient, which helps to improve the welding efficiency of the object to be welded and provides a production method that can be automated for large-scale production.

[0068] In some embodiments, moving the object to be welded to the welding area by a moving mechanism includes: adsorbing and fixing the adsorption surface of the object to be welded by the vacuum adsorption component of the moving mechanism; and driving the moving robotic arm by the driving device of the moving mechanism to move the object to be welded to the welding area for welding.

[0069] Specifically, the identifier of the moving mechanism identifies the adsorption surface of the object to be welded, and the vacuum adsorption component of the moving mechanism adsorbs and fixes the adsorption surface of the object to be welded. The driving device of the moving mechanism drives the moving robotic arm to move the object to be welded to the welding area. Then, the identifier identifies the pads on the electrical circuit board, and the moving robotic arm is driven to connect the welding material of the object to be welded with the pads. The welding area can be a welding box. By raising the temperature inside the welding box, the welding material is melted, and then the welding material is welded to the pads.

[0070] In some embodiments, the moving robotic arm is driven by the driving device of the moving mechanism to move the object to be welded to the welding area for welding, including: driving the moving robotic arm by the driving device of the moving mechanism to move the object to be welded out of the limiting area and flipping the object to be welded so that the direction of the adsorption surface of the object to be welded toward the welding surface is the same as the direction of gravity; and making the welding material of the welding surface of the object to be welded into contact with the pads of the substrate in the welding area for welding, wherein, during welding, the direction of the welding surface of the object to be welded toward the pads of the substrate is the same as the direction of gravity.

[0071] Since the direction of the welding surface of the object to be welded, facing the pads of the substrate, is the same as the direction of gravity, the welding material on the welding surface is also suspended in the direction of gravity during welding, forming a spherical shape. This allows for more complete coverage of the substrate pads when in contact with them, increasing the contact area between the welding material and the pads, and thus improving the welding stability between the object to be welded and the electrical substrate. The hinged design of the moving robotic arm and the vacuum suction components enable the board to be flipped without contacting the welding material, thus suspending the welding material in the direction of gravity.

[0072] Please see Figure 6 , Figure 6 This is a schematic diagram of one embodiment of welding the object to be welded to the electrical substrate.

[0073] The vacuum adsorption component 122 adsorbs the adsorption surface 202 of the object to be welded 200 and flips the object to be welded 200 so that the adsorption surface 202 faces the welding surface 201 in the same direction as the direction of gravity t. This suspends the welding material 203 on the welding surface 201, forming a spherical shape for welding, thereby increasing the contact area between the welding material 203 and the solder pad 301, and thus improving the welding stability between the object to be welded 200 and the electrical substrate 300.

[0074] The identifier identifies the position of the pad 301 on the electrical substrate 300, and aligns the welding material 203 on the welding surface 201 of the object to be welded 200 with the corresponding pad 301 one by one. Then, the temperature is increased to melt the welding material 203 so that the melted welding material 203 covers the corresponding pad 301 for welding and fixing.

[0075] Through the above steps, the welding method of this embodiment utilizes the vacuum adsorption component of the welding auxiliary equipment to achieve single-sided picking of the object to be welded, easily avoiding welding material on the welding surface. This process is simple and efficient, which helps to improve the welding efficiency of the object to be welded. Furthermore, the hollow area and opening area of ​​the limiting groove of the welding auxiliary equipment facilitate the adsorption and removal of the object to be welded by the vacuum adsorption component, and also limit the side wall of the object to be welded by the groove wall and bottom. Moreover, through the above-mentioned first connecting rod, second connecting rod, and third connecting rod and two hinge points, the vacuum adsorption component can be flipped, thereby causing the object to be welded to flip for corresponding welding. During welding, the welding material on the welding surface is also suspended in the direction of gravity, forming a spherical shape. This allows for more comprehensive coverage of the substrate's pads when in contact with them, increasing the contact area between the welding material and the pads, thereby improving the welding stability between the object to be welded and the electrical substrate.

[0076] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A welding auxiliary device, characterized in that, The welding auxiliary equipment includes: A limiting mechanism is provided with a limiting area to limit the object to be welded; The moving mechanism includes a vacuum adsorption component, a moving robotic arm, and a driving device. The moving robotic arm is connected to the vacuum adsorption component and the driving device, respectively. The moving mechanism is used to adsorb the object to be welded in the limiting area by the vacuum adsorption component, and to move the object to be welded to the welding area by the moving robotic arm driven by the driving device for welding.

2. The welding auxiliary equipment according to claim 1, characterized in that, The limiting area is a limiting groove; A hollow area is formed on part of the bottom of the limiting groove; The vacuum adsorption component adsorbs the adsorption surface of the object to be welded in the limiting area by passing through the hollow area.

3. The welding auxiliary equipment according to claim 2, characterized in that, The wall of the limiting groove is vertically arranged around a portion of the bottom edge of the groove. The groove wall is used to limit the side wall of the object to be welded, and the bottom of the groove is used to limit the adsorption surface of the object to be welded. An opening area is formed on the groove wall; the hollow area is connected to the opening area. When the vacuum suction component removes the object to be welded, the vacuum suction component moves from the hollow area to the opening area to remove the object to be welded from the limiting area.

4. The welding auxiliary equipment according to claim 2, characterized in that, The shape of the limiting area matches the shape of the object to be welded.

5. The welding auxiliary equipment according to claim 1, characterized in that, The mobile robotic arm includes a first connecting rod, a second connecting rod, and a third connecting rod; One end of the first connecting rod is connected to the driving device, and the end of the first connecting rod away from the driving device is hinged to one end of the second connecting rod. The end of the second connecting rod away from the first connecting rod is hinged to one end of the third connecting rod, and the end of the third connecting rod away from the second connecting rod is connected to the vacuum adsorption component.

6. The welding auxiliary equipment according to any one of claims 1-5, characterized in that, The moving mechanism also includes an identifier, which is connected to the driving device and the vacuum adsorption component respectively. The identifier is used to identify the adsorption surface of the object to be welded, so that the driving device drives the moving robotic arm to control the vacuum adsorption component to adsorb the adsorption surface of the object to be welded.

7. A welding method, characterized in that, The welding method is performed using the welding auxiliary equipment as described in any one of claims 1-6, comprising: The object to be welded is obtained, and the object to be welded is placed on the limiting area of ​​the limiting mechanism by the moving mechanism of the welding auxiliary equipment for limiting. Welding material is applied to the welding surface of the object to be welded after the limit is set; The object to be welded is moved to the welding area by the moving mechanism for welding.

8. The welding method according to claim 7, characterized in that, The step of moving the object to be welded to the welding area via the moving mechanism includes: The vacuum adsorption component of the moving mechanism adsorbs and fixes the adsorption surface of the object to be welded. The moving mechanism drives the moving robotic arm to move the object to be welded to the welding area for welding.

9. The welding method according to claim 8, characterized in that, The step of driving the mobile robotic arm through the driving device of the moving mechanism to move the object to be welded to the welding area for welding includes: The moving mechanism drives the moving robotic arm to move the object to be welded out of the limiting area and flip the object to be welded so that the direction of the adsorption surface of the object to be welded toward the welding surface is the same as the direction of gravity. The welding material of the welding surface of the object to be welded is brought into contact with the pads of the substrate in the welding area to perform welding. During welding, the direction of the welding surface of the object to be welded toward the pads of the substrate is the same as the direction of gravity.

10. The welding method according to claim 9, characterized in that, The process of adsorbing and fixing the adsorption surface of the object to be welded by the vacuum adsorption component of the moving mechanism includes: The mobile mechanism identifies the adsorption surface of the object to be welded by its identifier, and the vacuum adsorption component adsorbs and fixes the adsorption surface of the object to be welded. The step of bringing the welding material of the welding surface of the object to be welded into contact with the corresponding pads of the substrate in the welding area for welding includes: The recognition device of the moving mechanism identifies the pads of the substrate, and controls the moving robotic arm to make contact between the welding material of the welding surface of the object to be welded and the corresponding pads of the substrate in the welding area to perform welding.

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