Transfer manipulator for soldering tin of relay

Abstract

The utility model discloses a transfer manipulator for relay soldering tin, which comprises a portal frame, a three-axis moving module and a clamping jaw are arranged on the portal frame, the clamping jaw is arranged on the three-axis moving module, the three-axis moving module comprises a Z-axis linear module, an X-axis linear module and a Y-axis linear module, the Y-axis linear module comprises two Y-axis linear guide rails, and the Z-axis linear module comprises a Z-axis linear guide rail, an X-axis linear guide rail and a Y-axis linear guide rail. The Y-axis linear guide rails are fixed to the portal frame, synchronous wheels and synchronous belts are arranged on the Y-axis linear guide rails, the X-axis linear module is connected with the synchronous belts and connected to the Y-axis linear guide rails in a sliding mode, the synchronous wheels on the two Y-axis linear guide rails are in linkage through a transmission shaft, the Z-axis linear module is connected with the X-axis linear module, and the clamping jaw is connected to the Z-axis linear module. The problems of jittering, rail gnawing and the like caused by asynchronous response when the two servo motors work can be avoided, and the servo motor transfer mechanism has higher load, operates more stably and transfers products accurately.

Description

Technical Field

[0001] The utility model belongs to the technical field of relay soldering equipment, and more specifically relates to a transfer manipulator for relay soldering. Background Art

[0002] Due to product process requirements, it is necessary to solder the sampling points of the moving and static pieces of the product to facilitate welding of the sampling points with the sampling lines or welding of the sampling points with the circuit boards in subsequent production to ensure that there will be no cold soldering, loose welding, short circuit of the circuit boards, etc.

[0003] Currently, manual soldering is used. Manual soldering may cause the following problems, which may lead to insufficient production and unstable quality:

[0004] 1. The soldering height is not enough, which will lead to cold soldering and weak soldering in the subsequent production of the circuit board;

[0005] 2. The solder height is too high, which will cause the circuit board to short-circuit during subsequent production;

[0006] 3. The soldering time is too long, which will cause the copper sheet to change color due to high temperature and the appearance will be poor;

[0007] 4. Since soldering is a high-temperature operation, there is a risk of high-temperature burns if the operator is not focused during work.

[0008] The applicant has invented an automatic soldering machine for relays, wherein how to transfer the product between various workstations is a technical problem to be solved. Utility Model Content

[0009] In view of the deficiencies in the prior art, the utility model provides a product that can avoid the problems of jitter, rail gnawing, etc. caused by the asynchronous response of two servo motors when working, and has higher load, smoother operation, and precise transfer.

[0010] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a transfer robot for relay soldering, comprising a gantry, a three-axis mobile module and a clamping claw are arranged on the gantry, the clamping claw is installed on the three-axis mobile module, the three-axis mobile module comprises a Z-axis linear module, an X-axis linear module and a Y-axis linear module, the Y-axis linear module comprises two Y-axis linear guides, the Y-axis linear guide is fixed on the gantry, a synchronous wheel and a synchronous belt are arranged on the Y-axis linear guide, the X-axis linear module is connected to the synchronous belt and is slidably connected to the Y-axis linear guide, the synchronous wheels on the two Y-axis linear guides are linked by a transmission shaft, the Z-axis linear module is connected to the X-axis linear module, and the clamping claw is connected to the Z-axis linear module.

[0011] Furthermore, the clamping jaw is detachably connected to the Z-axis linear module.

[0012] Further, one of the synchronous wheels is connected to a servo motor.

[0013] Furthermore, each Y-axis linear module is provided with two synchronous wheels, the two synchronous wheels are located at two ends of the Y-axis linear module, and the synchronous belt is sleeved on the two synchronous wheels.

[0014] Compared with the prior art, the beneficial effects of the utility model are: avoiding the jitter, rail gnawing and other problems caused by the asynchronous response of the two servo motors when working; compared with linear bearings, linear guides have higher loads and smoother operation; the Z-axis linear module can be moved along the X direction through the X-axis linear module, and the Z-axis linear module can drive the clamp to move up and down along the Z direction, wherein the clamp and the Z-axis linear module are detachably connected, that is, different clamps can be replaced according to different products. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a three-dimensional structural diagram of an automatic soldering machine for relays;

[0016] Figure 2 The three-dimensional structure diagram of the automatic soldering machine without the transfer robot;

[0017] Figure 3 This is a three-dimensional structural diagram of the transfer robot;

[0018] Figure 4 for Figure 3 Enlarged view of part A in the middle;

[0019] Figure 5 The three-dimensional structural diagram of the feeding mechanism;

[0020] Figure 6 A three-dimensional structural diagram of a supply container;

[0021] Figure 7 is a side view of a supply container;

[0022] Figure 8 It is a three-dimensional structural diagram of the tin furnace mechanism;

[0023] Fig. 9 It is a side view of the tin furnace mechanism;

[0024] Fig.10 A three-dimensional structural diagram of the tin furnace mechanism when the exhaust hood is removed;

[0025] Fig.11 is a cross-sectional view of the tin bath;

[0026] Fig.12 A three-dimensional structural diagram of a cleaning sink;

[0027] Fig.13It is a three-dimensional structural diagram of the cooling and drying device;

[0028] Fig.14 It is a cross-sectional view of the cooling and drying device.

[0029] Figure numerals: 1, feeding mechanism; 11, safety grating; 12, fixing seat; 13, fixing fixture; 14, positioning hole; 15, lifting support rod; 2, pumping mechanism; 21, supply container; 211, containing tank; 212, overflow tank; 22, raw material barrel; 23, peristaltic pump; 3, tin furnace mechanism; 311, tin cup; 3111, first lifting cylinder; 312, tin tank; 3121, first heating rod; 3122, first temperature sensor; 321, scraper; 322, linear cylinder; 3221, second lifting cylinder; 33, waste residue tank; 34, Exhaust hood; 35. Liquid level detection probe; 4. Water washing mechanism; 41. Cleaning sink; 42. Water cup; 421. Third lifting cylinder; 5. Cooling and drying device; 51. Wind knife; 511. Shaft; 52. Water collecting tank; 53. Support column; 6. Transfer robot; 61. Servo motor; 62. Y-axis linear module; 621. Linear guide; 622. Synchronous wheel; 623. Synchronous belt; 63. X-axis linear module; 64. Z-axis linear module; 65. Gripper; 66. Drive shaft; 7. Output conveyor belt; 8. Product; 9. Rack; 91. Workbench. DETAILED DESCRIPTION

[0030] Reference Figures 1 to 14 The embodiment of the utility model of the transfer robot for relay soldering is further described.

[0031] In the description of the present invention, it should be noted that directional words, such as the terms "center", "lateral (X)", "longitudinal (Y)", "vertical (Z)", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating directions and positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of narrating the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and cannot be understood as limiting the specific protection scope of the present invention.

[0032] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. Therefore, the definition of "first" and "second" features can explicitly or implicitly include one or more of the features. In the description of the utility model, the meaning of "several" and "a number" is two or more, unless otherwise clearly and specifically defined.

[0033] An automatic soldering machine for a relay comprises a frame 9, on which are arranged:

[0034] A feeding mechanism 1, which includes a fixing fixture 13 for positioning the product 8;

[0035] The pump mechanism 2 includes a supply container 21 and a peristaltic pump 23. The supply container 21 is used to contain soldering flux. The peristaltic pump 23 is connected to the supply container 21 to pump the soldering flux into the supply container 21.

[0036] The tin furnace mechanism 3 includes a tin cup 311 and a tin tank 312. The tin cup 311 is located in the tin tank 312. The tin cup 311 is connected to a first lifting cylinder 3111. A liquid level detection probe 35 is arranged above the tin tank 312. The liquid level detection probe 35 is used to detect the height of the tin surface in the tin tank 312 so as to replenish the tin solution when it is insufficient.

[0037] A water washing mechanism 4, comprising a washing water tank 41;

[0038] A cooling and drying device 5, comprising an air knife 51, wherein the air knife 51 is connected to a blower;

[0039] The transfer robot 6 comprises a gantry, which is located above the frame 9. A three-axis moving module and a clamp 65 are arranged on the gantry, and the clamp 65 is installed on the three-axis moving module.

[0040] like Figure 2 As shown, in this embodiment, a workbench 91 is arranged above the frame 9, and the feeding mechanism 1, the liquid pumping mechanism 2, the tin furnace mechanism 3, the water washing mechanism 4 and the cooling and drying device 5 are arranged in sequence on the workbench 91, and the moving range of the transfer robot 6 can cover the above mechanisms, that is, the transfer robot 6 can transfer the product 8 to any of the above mechanisms.

[0041] like Figure 5 As shown, in one embodiment, the feeding mechanism 1 further includes a safety grating 11 , which is arranged in front of the fixed fixture 13 .

[0042] The safety grating 11 can be fixed on the frame 9 or fixed to the main body of the feeding mechanism 1. It can prevent accidental intrusion and danger during the operation of the soldering machine, ensure the personal safety of the operator and avoid work-related injuries.

[0043] Preferably, a fixing seat 12 is disposed below the fixing fixture 13 , and the fixing fixture 13 is detachably connected to the fixing seat 12 .

[0044] In one embodiment, positioning holes 14 are provided on the fixing seat 12 and the fixing fixture 13, and positioning pins are inserted into the positioning holes 14. The fixing fixture 13 and the fixing seat 12 can be aligned and fixed by the positioning pins. After the positioning pins are pulled out, different fixing fixtures 13 can be replaced. That is, when processing different types of products 8, different fixing fixtures 13 can be replaced, so that multiple products 8 can be used universally.

[0045] And if Figure 5 As shown, a lifting support rod 15 is preferably provided below the fixing seat 12, which can adjust the height position of the fixing fixture 13 according to actual needs. The lifting support rod 15 can be a screw and a screw barrel matching structure.

[0046] In one embodiment, the supply container 21 includes a receiving groove 211 and an overflow groove 212 , wherein the overflow groove 212 surrounds the outside of the receiving groove 211 , and the receiving groove 211 is higher than the overflow groove 212 , and the peristaltic pump 23 is connected to the receiving groove 211 .

[0047] like Figure 7 As shown, the outer side of the supply container 21 is provided with a flux raw material barrel 22, and the flux raw material barrel 22 is connected to the receiving tank 211 through a peristaltic pump 23. The flux is pumped into the receiving tank 211 through the peristaltic pump 23 to fill the receiving tank 211. The precise peristaltic pump 23 can always ensure the liquid level height and there is no fluctuation in the liquid level. Excess flux can be recovered through the outside and the overflow tank 212.

[0048] like Figure 6 As shown, the supply container 21 is made of PP material as a whole to avoid corrosion by the flux.

[0049] like Fig.10 As shown, in one embodiment, the tin furnace mechanism 3 further includes a scraper 321 , the scraper 321 is connected to a linear drive assembly, and the scraper 321 is located above the tin cup 311 .

[0050] In this embodiment, the tin bath 312 is filled with tin solution. The action of the first lifting cylinder 3111 can make the tin cup 311 completely immersed in the tin bath 312 to hold the tin solution. The tin cup 311 scoops up the tin to ensure the uniform height during soldering and avoid scalding other parts.

[0051] The linear drive component may be a linear cylinder 322 or a linear motor. For example, the linear cylinder 322 may be a linear motor. Fig.10 As shown, the length direction of the entire tin bath 312 and the tin cup 311 extends along the X direction, and the linear cylinder 322 is arranged along the X direction, which drives the scraper 321 to reciprocate and can scrape off the oxide layer on the surface of the tin cup 311.

[0052] like Fig.10As shown, a waste slag groove 33 is preferably provided on the side of the tin groove 312 . At this time, the waste slag groove 33 is located at the end of the tin groove 312 in the X direction, and the oxide layer scraped off by the scraper 321 is transferred to the waste slag groove 33 .

[0053] like Figure 8-10 As shown, the linear drive assembly is preferably connected to a second lifting cylinder 3221.

[0054] The second lifting cylinder 3221 can be used to control and adjust the height of the linear cylinder 322 and the scraper 321 , thereby adjusting the thickness of the oxide layer in the tin cup 311 scraped off by the scraper 321 .

[0055] like Fig.11 As shown, preferably, a first heating rod 3121 and a first temperature sensor 3122 are disposed in the tin bath 312 .

[0056] The tin solution in the tin bath 312 is heated by the first heating rod 3121, and cooperates with the first temperature sensor 3122 to keep the tin solution in a certain temperature range. The shell of the tin bath 312 is preferably a hollow shell, which can effectively achieve the purpose of heat insulation.

[0057] like Figure 8 and 9 As shown, preferably, an exhaust hood 34 is provided above the tin bath 312 , and the exhaust hood 34 has negative pressure, which can extract harmful gases to avoid occupational diseases.

[0058] like Fig.12 As shown, in one embodiment, the structure of the cleaning water tank 41 is basically the same as the tin tank 312, a water cup 42 is arranged inside, and the water cup 42 is connected to the third lifting cylinder 421, and a second heating rod and a second temperature sensor are arranged in the cleaning water tank 41.

[0059] Clean water is filled into the cleaning water tank 41, and the water cup 42 is lifted and lowered in the cleaning water tank 41 by the third lifting cylinder 421 to be filled with water. The product 8 enters the water cup 42 to clean chemical residues, and the cooperation of the second heating rod and the second temperature sensor can maintain the temperature of the clean water.

[0060] like Fig.13 and 14 As shown, in one embodiment, a water collecting trough 52 is arranged in front of the wind knife 51, and the water stains blown away by the wind knife 51 fall into the water collecting trough 52, wherein a support column 53 is arranged below the wind knife 51, and the wind knife 51 and the support column 53 are connected by an axis 511, and an axis hole and an opening through the axis hole and the outside are arranged on the support column 53, and a locking screw is arranged at the opening, and the axis 511 of the wind knife 51 can be fixed to the support column 53 by the locking screw, and then the angle of the wind knife 51 can be adjusted according to the different products 8 to control the angle of the blowing wind, wherein the wind adopts negative ion wind.

[0061] Preferably, there is an output conveyor belt 7 after the cooling and drying device 5, that is, the processed product 8 is placed on the output conveyor belt 7 and transferred to the next process.

[0062] like Figure 3 and 4 As shown, in one embodiment, the three-axis moving module includes a Z-axis linear module 64, an X-axis linear module 63 and a Y-axis linear module 62, wherein the Y-axis linear module 62 includes two Y-axis linear guides 621, the Y-axis linear guide 621 is fixed on the gantry, and a synchronous wheel 622 and a synchronous belt 623 are provided on the Y-axis linear guide 621, the X-axis linear module 63 is connected to the synchronous belt 623 and is slidably connected to the Y-axis linear guide 621, the synchronous wheels 622 on the two Y-axis linear guides 621 are linked through a transmission shaft 66, the Z-axis linear module 64 is connected to the X-axis linear module 63, and the clamp 65 is connected to the Z-axis linear module 64.

[0063] The gantry spans the entire workbench 91, and the synchronous belt 623 is stretched through the synchronous wheel 622, one of which is connected to the servo motor 61. When the servo motor 61 is in motion, the two synchronous belts 623 are moved simultaneously through the transmission shaft 66, thereby controlling the X-axis linear module 63 to move along the Y-axis linear guide 621. This avoids jitter, rail gnawing and other problems caused by the asynchronous response of the two servo motors 61 when working. Compared with linear bearings, the linear guide 621 has a higher load and runs more smoothly; the Z-axis linear module 64 can be moved along the X-direction through the X-axis linear module 63, and the Z-axis linear module 64 can drive the clamp 65 to move up and down in the Z direction, wherein the clamp 65 and the Z-axis linear module 64 are detachably connected, that is, different clamps 65 can be replaced according to different products 8.

[0064] The working process is as follows:

[0065] S1. First, replace the corresponding clamping jaws 65 and the fixing fixture 13 according to the model of the product 8, adjust the angle of the wind knife 51, and set the duration and height of the soldering of the product 8 by the manipulator in advance;

[0066] S2, placing the product 8 on the fixed fixture 13;

[0067] S3, using the transfer manipulator 6 to grab the product 8 on the fixed fixture 13 and move it to the pump mechanism 2, where the peristaltic pump 23 keeps the containing tank 211 full of flux with a stable liquid level, where the product 8 contacts and attaches to the flux, and the excess flux flows to the overflow tank 212 for storage;

[0068] S4, the transfer robot 6 transfers the product 8 to the tin furnace mechanism 3, where the tin cup 311 is filled with tin solution from the tin tank 312 and rises, and the scraper 321 scrapes off the oxide layer on the surface of the tin cup 311 under the drive of the linear cylinder 322, and the product 8 contacts the tin solution and solders here. By initially setting the action of the transfer robot 6, the time and height of soldering can be controlled to make all products 8 uniform, and the harmful gas generated in the process is extracted and processed by the exhaust hood 34 to keep the air on site clean;

[0069] S4, the transfer robot 6 transfers the product 8 to the water washing mechanism 4, where the water cup 42 scoops clean water from the washing tank 41 and rises, and the product 8 contacts the clean water for washing to prevent residues from adhering to the product 8 and causing poor appearance of the product 8;

[0070] S5, the transfer robot 6 transfers the product 8 to the cooling and drying device 5, where the product 8 is in the water collection tank 52, and the negative ion wind blown by the wind knife 51 dries the water stains on the surface of the product 8 to prevent poor oxidation of the copper parts;

[0071] S6, the transfer robot 6 transfers the product 8 to the output conveyor belt 7 to enter the next process.

[0072] The above is only a preferred embodiment of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A transfer robot for relay soldering, characterized in that: It includes a gantry, on which a three-axis moving module and a clamp are arranged, the clamp is installed on the three-axis moving module, the three-axis moving module includes a Z-axis linear module, an X-axis linear module and a Y-axis linear module, the Y-axis linear module includes two Y-axis linear guides, the Y-axis linear guide is fixed on the gantry, a synchronous wheel and a synchronous belt are arranged on the Y-axis linear guide, the X-axis linear module is connected to the synchronous belt and is slidably connected to the Y-axis linear guide, the synchronous wheels on the two Y-axis linear guides are linked through a transmission shaft, the Z-axis linear module is connected to the X-axis linear module, and the clamp is connected to the Z-axis linear module.

2. The relay soldering transfer robot according to claim 1, characterized in that: The clamping jaw is detachably connected to the Z-axis linear module.

3. The relay soldering transfer robot according to claim 2, characterized in that: A servo motor is connected to one of the synchronous wheels.

4. The relay soldering transfer robot according to claim 3, characterized in that: Each Y-axis linear module is provided with two synchronous wheels, the two synchronous wheels are located at two ends of the Y-axis linear module, and the synchronous belt is sleeved on the two synchronous wheels.

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