Intelligent spot welding mechanical arm for circuit board production

Abstract

The utility model discloses an intelligent spot welding mechanical arm for circuit board production. An existing multi-degree-of-freedom electric welding mechanical arm mainly adopts a multi-degree-of-freedom single-arm type welding assembly to achieve degree-of-freedom adjustment and welding. However, although the welding arm can realize adjustment of any degree of freedom, the welding plane is generally kept on the same horizontal plane, namely, once the welding height is set, the welding height does not need to be changed generally. In the prior art, a multi-degree-of-freedom manipulator only needs to change the welding position in the XOY direction, and in order to achieve positioning, six degrees of freedom need to be adjusted again in each time of welding, so that the relative precision between different degrees of freedom is reduced, and the welding precision is affected. In addition, the design cost and the manufacturing cost of the multi-degree-of-freedom simultaneous adjustment single-arm manipulator are high, and efficient production is not facilitated. According to the multi-rod freedom degree assembly, the common freedom degree in the Z direction is separated, and the freedom degrees in the XOY direction are combined.

Description

Technical Field

[0001] The utility model relates to the technical field of spot welding mechanical arms, in particular to an intelligent spot welding mechanical arm for circuit board production. Background Art

[0002] Spot welding robot arm, especially in the field of automation and welding, usually refers to welding robot arm or welding robot arm, which is a mechanical device that can automatically perform welding tasks. It is usually designed to have high flexibility and precision, and can move and rotate in multiple dimensions to access different parts of the workpiece for welding. Spot welding machine arms are widely used, especially in automobile manufacturing, aviation, shipbuilding, construction, home appliance production and other industrial fields that require high efficiency and precision welding. Key features and components 1. Multi-joint design: similar to human arms, with multiple rotation joints, can achieve complex range of motion to ensure that the welding gun head accurately reaches the welding position. 2. Welding gun head / welding gun: installed at the end of the robot arm, different welding guns are configured according to the type of welding (such as spot welding, MIGBTW, TIG, laser welding). 3. Control system: controlled by computer or PLCNC / CNC system programming, control parameters such as motion path, speed, current, pressure, etc. 4. Sensor and vision system: integrated cameras, laser sensors, etc., to help positioning, ensure accurate alignment of weld seams, and improve quality. 5. Safety devices: protective fences, emergency stop, and limit switches to ensure safe operation. Advantages Precision and consistency: reduce human errors, each weld is highly consistent, and improve product quality. Efficiency: continuous work without rest improves productivity, especially suitable for mass production. Safety Reduce workers' exposure to dangerous environments and stay away from welding risks such as high temperature, smoke, and arc. Adaptability It can be used in complex, heavy, difficult to reach, and small spaces to improve welding flexibility. Application examples Automobile production line: body and parts welding, such as doors, frames, chassis, and engine hoods. Heavy industrial structure manufacturing: bridges, building steel structures, pressure vessels, pipelines, and shipbuilding. Electronic small parts: precision welding, such as PCB boards, sensors, and small parts. When choosing a spot welding robot arm, it is necessary to comprehensively consider the actual welding needs, workpiece size, materials, production volume, budget, and precision requirements, and choose the most suitable model and configuration.

[0003] The existing multi-degree-of-freedom electric welding robot arm mainly adopts a multi-degree-of-freedom single-arm welding assembly to achieve the adjustment of degrees of freedom and welding. However, although this welding arm can achieve the adjustment of any degree of freedom, the welding plane is generally maintained on the same horizontal plane, that is, once the welding height is set, it generally does not need to be changed. Only the welding position in the XOY direction needs to be changed, but in order to achieve positioning, the multi-degree-of-freedom robot in the prior art must readjust the six degrees of freedom each time welding is performed, which will cause the relative accuracy between different degrees of freedom to decrease, thereby affecting the welding accuracy. In addition, the design cost and manufacturing cost of the single-arm robot that simultaneously adjusts multiple degrees of freedom are relatively high, which is not conducive to the implementation of efficient production. Utility Model Content

[0004] The utility model aims to solve the shortcomings in the prior art and proposes an intelligent spot welding robot arm for circuit board production.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] An intelligent spot welding robot arm for circuit board production, comprising a welding gun and:

[0007] Multi-rod degree of freedom assembly, the multi-rod degree of freedom assembly includes:

[0008] A single positioning height component, the single positioning height component comprises a servo module, a guide rail is arranged on the surface of the servo module, a slide rail is electrically installed on the surface of the guide rail, and a servo motor is installed at one side of the servo module;

[0009] The multi-rod freedom assembly also includes a rotating frame installed on one side of the slide rail, a first rotating shaft is rotatably installed inside the rotating frame, a first rotor is installed on one side of the first rotating shaft, a first swing arm is installed on one side of the first rotating shaft, a second rotating shaft and an axle seat are installed on the end of the first swing arm, a second rotor is installed on one side of the second rotating shaft, a second swing arm is installed on one side of the second rotating shaft, and a welding gun is fixedly installed on the end of the second swing arm.

[0010] According to a further technical solution, the first rotor and the second rotor are externally connected to a PLC stroke controller.

[0011] According to a further technical solution, a pad is installed on one side of the servo module.

[0012] According to a further technical solution, the slide rail and the guide rail are seamlessly connected and are coated with grease.

[0013] According to a further technical solution, a mounting plate is provided at the end of the second swing arm, and the welding gun is butt-mounted on the surface of the mounting plate.

[0014] Compared with the prior art, the utility model provides an intelligent spot welding robot arm for circuit board production, which has the following beneficial effects:

[0015] By setting up a multi-rod freedom assembly, the commonly used Z-direction freedom is separated and the freedom in the XOY direction is combined. In other words, after the freedom in the Z direction is adjusted, it can basically be guaranteed to remain unchanged and be used to adapt the height of the welding plane. High-precision positioning can be achieved by only adjusting the freedom in the XOY direction. This positioning method reduces the number of positioning times, thereby ensuring position accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of an intelligent spot welding robot arm for circuit board production proposed by the utility model;

[0017] Figure 2 This is a schematic diagram of the structure of a multi-rod degree of freedom component of an intelligent spot welding robot arm for circuit board production proposed by the utility model;

[0018] Figure 3 This is a schematic diagram of the structure of a top view of an intelligent spot welding robot arm for circuit board production proposed by the utility model;

[0019] Figure 4 This is a structural schematic diagram of a rear side view of an intelligent spot welding robot arm for circuit board production proposed by the utility model.

[0020] In the figure:

[0021] 1. welding gun; 2. multi-rod freedom assembly; 3. servo module; 4. servo motor; 5. slide rail; 6. rotating frame; 7. first rotor; 8. first rotating shaft; 9. first swing arm; 10. second rotating shaft; 11. second rotor; 12. second swing arm; 13. pad. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0023] Example 1: Reference Figure 1 - Figure 4 , an intelligent spot welding robot arm for circuit board production, including a welding gun 1, and also including:

[0024] Multi-rod DOF assembly 2 optimizes the problem of high positioning accuracy requirement in traditional single-rod six-DOF control, thereby reducing manufacturing cost and operating cost. Multi-rod DOF assembly 2 includes:

[0025] The single positioning height component takes out the height positioning separately. First, after positioning, no modification is required, and the tolerance with respect to the XOY direction positioning can be reduced, that is, the positioning tolerance is reduced and the accuracy is increased. The single positioning height component includes a servo module 3. The servo module 3 includes components such as a servo motor 4, a servo guide rail and a servo rotating frame 6. This component is known for its automatic control and high-precision linear positioning, so it is the first choice as a height positioning structure only. A guide rail is provided on the surface of the servo module 3, and a rotating frame 6 is electrically installed on the surface of the guide rail. The rotating frame 6 is a component that slides on the surface of the servo module 3. A servo motor 4 is installed on one side of the servo module 3. The servo motor 4 is used to control the movement of the rotating frame 6 on the surface of the guide rail;

[0026] The multi-rod freedom assembly 2 also includes a rotating frame 6 installed on one side of the slide rail 5, and the rotating frame 6 is used to install a rotating first shaft 8; the first shaft 8 is rotatably installed inside the rotating frame 6, and the first shaft 8 is used to control the rotation of the first swing rod 9. A first rotor 7 is installed on one side of the first shaft 8, and the first rotor 7 is a component for controlling the rotation of the first shaft 8. A first swing rod 9 is installed on one side of the first shaft 8, and a second shaft 10 and a shaft seat are installed at the end of the first swing rod 9. Similarly, the second rotor 11, the second shaft 10 and the second swing rod 12 are similar to the above, and are mainly used to increase the extension length of the positioning arm, thereby welding workpieces at a long distance. A second rotor 11 is installed on one side of the second shaft 10, and a second swing rod 12 is installed on one side of the second shaft 10. The welding gun 1 is fixedly installed at the end of the second swing rod 12.

[0027] An intelligent spot welding robot arm for circuit board production, wherein the first rotor 7 and the second rotor 11 are externally connected to a PLC stroke controller. The PLC controller is a component for realizing linear control, that is, it can realize the linear extension and retraction of the cylinder, and can also realize the rotation angle and speed of the servo motor 4, and is an important component for realizing automatic control.

[0028] An intelligent spot welding robot arm for circuit board production, a pad 13 is installed on one side of a servo module 3, and the pad 13 is used to support the entire device.

[0029] An intelligent spot welding robot arm for circuit board production, wherein a rotating frame 6 and a guide rail are seamlessly connected and smeared with grease, wherein the grease increases the lubrication effect between the rotating frame 6 and the guide rail to avoid jamming problems.

[0030] An intelligent spot welding robot arm for circuit board production, wherein a mounting plate is provided at the end of the second swing arm 12, and the mounting plate is a component for positioning and mounting a welding gun 1. The welding gun 1 is butt-mounted on the surface of the mounting plate.

[0031] Working principle:

[0032] In actual use, the utility model is mainly used to solve the following technical problems existing in the prior art: the existing multi-degree-of-freedom electric welding robot arm mainly adopts a multi-degree-of-freedom single-arm welding assembly to achieve freedom adjustment and welding. However, although this welding arm can achieve the adjustment of any degree of freedom, the welding plane is generally maintained on the same horizontal plane, that is, once the welding height is determined, it generally does not need to be changed. Only the welding position in the XOY direction needs to be changed, and the multi-degree-of-freedom manipulator in the prior art must readjust the six degrees of freedom for each welding in order to achieve positioning, which will cause the relative accuracy between different degrees of freedom to decrease, thereby affecting the welding accuracy. In addition, the design cost and manufacturing cost of the single-arm manipulator that simultaneously adjusts multiple degrees of freedom are relatively high, which is not conducive to the implementation of efficient production. A multi-rod degree-of-freedom assembly 2 and a longitudinal servo assembly are specifically proposed.

[0033] In actual use, we install the welding gun 1 on the caliper at the end of the frame. Measure the height of the welding plane in advance, and control the surface height of the rotating frame 6 on the servo module 3 through the servo motor 4 to adapt to the height in the Y direction. Once the height positioning is determined, it generally does not need to be changed. This method is used to ensure that the position in the height direction is reduced and adjusted, thereby reducing the occurrence of positioning deviations. The first rotor 7 and the second rotor 11 control the rotation of the first swing arm 9 and the second swing arm 12 to achieve a suitable welding position. It is only necessary to control the angles of the first swing arm 9 and the second swing arm 12 to achieve positioning in the XOY direction, which is accurate enough for welding. Therefore, the device reduces the number of positioning times, thereby reducing tolerances, and greatly improving the quality of the finished product.

[0034] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An intelligent spot welding robot arm for circuit board production, comprising a welding gun (1), characterized in that: Also includes: A multi-rod degree of freedom assembly (2), the multi-rod degree of freedom assembly (2) comprising: A single-positioning height component, the single-positioning height component comprising a servo module (3), a guide rail being arranged on the surface of the servo module (3), a slide rail (5) being electrically controlled and installed on the surface of the guide rail, and a servo motor (4) being docked and installed on one side of the servo module (3); The multi-rod freedom assembly (2) also includes a rotating frame (6) installed on one side of the slide rail (5), a first rotating shaft (8) is rotatably installed inside the rotating frame (6), a first rotor (7) is installed on one side of the first rotating shaft (8), a first swing arm (9) is installed on one side of the first rotating shaft (8), a second rotating shaft (10) and an axle seat are installed at the end of the first swing arm (9), a second rotor (11) is installed on one side of the second rotating shaft (10), a second swing arm (12) is installed on one side of the second rotating shaft (10), and the welding gun (1) is fixedly installed at the end of the second swing arm (12).

2. The intelligent spot welding robot arm for circuit board production according to claim 1 is characterized in that: The first rotor (7) and the second rotor (11) are externally connected to a PLC stroke controller.

3. The intelligent spot welding robot arm for circuit board production according to claim 1 is characterized in that: A backing plate (13) is installed on one side of the servo module (3).

4. The intelligent spot welding robot arm for circuit board production according to claim 1 is characterized in that: The slide rail (5) and the guide rail are seamlessly connected and are coated with grease.

5. The intelligent spot welding robot arm for circuit board production according to claim 1 is characterized in that: A mounting plate is provided at the end of the second swing arm (12), and the welding gun (1) is butt-mounted on the surface of the mounting plate.

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