GPS antenna pin welding machine

Abstract

The utility model relates to the technical field of GPS antenna production, in particular to a GPS antenna contact pin welding machine which comprises a machine table, a feeding device, a first turnover table, a contact pin device, a second turnover table, a solder paste brushing device, a third turnover table, a heating platform, a cooling platform, a fourth turnover table, a turn-over device, a machining device, a fifth turnover table and a discharging wobble plate device. A four-claw synchronous mechanical arm is movably arranged among the first turnover table, the pin inserting device, the second turnover table, the solder paste brushing device and the third turnover table, a first feeding mechanical arm is movably arranged above the third turnover table, the heating platform and the cooling platform, and a second feeding mechanical arm is movably arranged above the cooling platform and the fourth turnover table. And a three-jaw synchronous feeding manipulator is movably arranged among the fourth turnover table, the turn-over device, the processing device and the fifth turnover table. According to the production line, pin inserting, solder paste brushing, heating and welding, turn-over machining and discharging and plate placing are automatically carried out on the substrate, and the production efficiency of the GPS antenna is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of GPS antenna production, in particular to a GPS antenna pin welding machine. Background Art

[0002] GPS antennas, also known as Beidou antennas, are manufactured by inserting pins (inserting PINs) into double-sided printed ceramic substrates, applying solder paste, and performing soldering. Among the existing patents, the Chinese patent document with application number 202120507907.2 discloses a Beidou navigation antenna pin solder paste printing rotary line, including a pin insertion device, a printing positioning plate rotation system, a printing device, a transfer mechanism, a flow plate rotation system and a reflow furnace. The printing positioning plate rotation system and the working table of the printing device form a ring transport line, and the printing positioning plate rotation system also passes through the unloading position of the pin insertion device. The flow plate rotation system connects the entrance and exit of the reflow furnace. The transfer mechanism is arranged between the printing positioning plate rotation system and the flow plate rotation system. The pin insertion device installs the PIN pin on the antenna substrate, and transfers the antenna substrate with the PIN pin installed to the printing positioning plate rotation system. When the printing positioning plate rotation system passes through the printing device, the solder paste printing operation is completed. The transfer mechanism transfers the antenna on the printing positioning board to the flow board, and then enters the reflow furnace. While this patent document achieves automated assembly of the antenna substrate and PIN pins, improving production efficiency, the printed positioning plate's rotation system complicates the machine's structure and prevents additional processing (such as adhesive backing or inkjet printing) on ​​the antenna substrate. This presents significant drawbacks, necessitating an urgent solution. Utility Model Content

[0003] In order to solve the above technical problems, the purpose of the present utility model is to provide a GPS antenna pin welding machine.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] A GPS antenna pin welding machine includes a machine and a feeding device installed in a straight line on the machine, a first turntable, a pin insertion device, a second turntable, a solder paste brushing device, a third turntable, a heating platform, a cooling platform, a fourth turntable, a flipping device, a processing device, a fifth turntable and a material unloading plate device. A four-claw synchronous robot is movably arranged between the first turntable, the pin insertion device, the second turntable, the solder paste brushing device and the third turntable. A first feeding robot is movably arranged above the third turntable, the heating platform and the cooling platform. A second feeding robot is movably arranged above the cooling platform and the fourth turntable. A three-claw synchronous feeding robot is movably arranged between the fourth turntable, the flipping device, the processing device and the fifth turntable. The feeding device is used to supply substrates to the first turntable.

[0006] Furthermore, the feeding device includes a feeding tray mechanism installed on the machine, a feeding tray mechanism installed on the machine and erected above the feed end of the feeding tray mechanism, a steering output mechanism installed on the machine and connected to the discharge end of the feeding tray mechanism, a lower CCD visual positioning mechanism installed on the machine and located outside the discharge end of the feeding tray mechanism, an upper CCD visual positioning mechanism installed on the machine and erected above the discharge end of the feeding tray mechanism, and a material picking and placing robot installed on the machine and movably arranged between the discharge end of the feeding tray mechanism and the first turntable.

[0007] Furthermore, the feeding device also includes an NG material box installed on the machine and located on one side of the lower CCD visual positioning mechanism and / or the first turntable, and the material picking and placing robot can be movably arranged above the NG material box.

[0008] Furthermore, the pin insertion device includes a pin insertion platform installed on the machine, a pin insertion mechanism arranged on one side of the pin insertion platform, and a pin insertion robot installed on the machine and movably arranged above the pin insertion mechanism and the pin insertion platform; the first jaw of the four-claw synchronous robot moves back and forth between the first turntable and the pin insertion platform, the second jaw of the four-claw synchronous robot moves back and forth between the pin insertion platform and the second turntable, the third jaw of the four-claw synchronous robot moves back and forth between the second turntable and the solder paste brushing device, and the fourth jaw of the four-claw synchronous robot moves back and forth between the solder paste brushing device and the third turntable.

[0009] Furthermore, the solder paste brushing device includes a solder paste brushing platform installed on the machine and a solder paste brushing mechanism movably arranged above the solder paste brushing platform. The third jaw of the four-claw synchronous robot moves back and forth between the second turntable and the solder paste brushing platform, and the fourth jaw of the four-claw synchronous robot moves back and forth between the solder paste brushing platform and the third turntable.

[0010] Furthermore, the flipping device includes a flipping jig installed on the machine and a flipping robot movably arranged above the flipping jig. The first jaw of the three-jaw synchronous feeding robot moves back and forth between the fourth turntable and the flipping jig, the second jaw of the three-jaw synchronous feeding robot moves back and forth between the flipping jig and the processing device, and the third jaw of the three-jaw synchronous feeding robot moves back and forth between the processing device and the fifth turntable.

[0011] Furthermore, the processing device includes a processing platform installed on the machine and a processing execution mechanism movably arranged above the processing platform. The processing execution mechanism is a back-adhesive mechanism or a coding mechanism. The second jaw of the three-jaw synchronous feeding robot moves back and forth between the flipping jig and the processing platform, and the third jaw of the three-jaw synchronous feeding robot moves back and forth between the processing platform and the fifth turntable.

[0012] Furthermore, the unloading and tray-swaying device includes a tray-swaying robot installed on the machine, a tray conveying mechanism installed on the machine, and a tray-discharging mechanism and a tray-receiving mechanism respectively installed on the machine and erected above the tray conveying mechanism. The tray conveying mechanism is provided with a tray-swaying position, which is located between the tray-discharging mechanism and the tray-receiving mechanism. The tray-swaying robot is movably arranged between the fifth turntable and the tray-swaying position. The tray-discharging mechanism is used to place the loading tray onto the tray conveying mechanism, and the tray-receiving mechanism is used to collect the loading tray on the tray conveying mechanism.

[0013] Furthermore, the flipping fixture includes a lifting drive mechanism installed on the machine platform and a flipping platform installed at the lifting end of the lifting drive mechanism. The flipping robot is movably arranged above the flipping platform, and the lifting drive mechanism is used to drive the flipping platform to rise and fall.

[0014] The beneficial effects of the present invention are as follows: in actual application, the feeding device supplies the substrate to the first turntable, the first clamping jaw of the four-claw synchronous manipulator transfers the substrate carried by the first turntable to the pin insertion device, and the pin insertion device inserts the pin into the socket of the substrate. At the same time, the second clamping jaw of the four-claw synchronous manipulator transfers the substrate after the pin is inserted to the second turntable, the third clamping jaw of the four-claw synchronous manipulator transfers the substrate carried by the second turntable to the solder paste brushing device, and the solder paste brushing device brushes solder paste on the pin position of the substrate. The fourth clamping jaw of the four-claw synchronous manipulator transfers the substrate after the solder paste is brushed to the third turntable, and the first feeding manipulator transfers the substrate carried by the third turntable to the heating platform, and the heating platform heats the substrate to make The solder paste solders the pins to the substrate, and then the first feeding robot transfers the substrate on the heating platform to the cooling platform for cooling. The second feeding robot transfers the substrate on the cooling platform to the fourth turntable. The first gripper of the three-claw synchronous feeding robot transfers the substrate on the fourth turntable to the flipping device. The flipping device flips the substrate so that the front and back sides of the substrate are swapped. The second gripper of the three-claw synchronous feeding robot transfers the flipped substrate to the processing device. The processing device processes the other surface of the substrate (such as applying adhesive or spraying code, etc.). The third gripper of the three-claw synchronous feeding robot transfers the processed substrate to the fifth turntable. The unloading and swivel device unloads and swivels the substrate on the fifth turntable. The utility model has a simple structure and can automatically insert pins, apply solder paste, heat and weld, flip over, and unload and swivel the substrate, thereby improving the efficiency of GPS antenna production. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model.

[0016] Figure 2 It is a schematic diagram of the three-dimensional structure of the feeding device and the first turntable of the utility model.

[0017] Figure 3 It is a schematic diagram of the three-dimensional structure of the pin insertion device of the present invention.

[0018] Figure 4 It is a schematic diagram of the three-dimensional structure of the turning device of the present invention.

[0019] Figure 5 It is a three-dimensional structural diagram of the processing device, the fifth turntable and the unloading and placing device of the utility model.

[0020] Description of reference numerals:

[0021] 1. Machine; 2. Feeding device; 3. First turntable; 4. Pin insertion device; 5. Second turntable; 6. Solder paste brushing device; 7. Third turntable; 8. Heating platform; 9. Cooling platform; 10. Fourth turntable; 11. Turning device; 12. Processing device; 13. Fifth turntable; 14. Unloading and swinging device; 15. Four-claw synchronous robot; 16. First feeding robot; 17. Second feeding robot; 18. Three-claw synchronous feeding robot; 19. Feeding tray mechanism; 20. Feeding tray mechanism; 21. Steering and output mechanism; 22 , lower CCD visual positioning mechanism; 23. Upper CCD visual positioning mechanism; 24. Material taking and unloading robot; 25. NG material box; 26. Pin insertion platform; 27. Pin supply mechanism; 28. Pin insertion robot; 29. ​​Solder paste brushing platform; 30. Solder paste brushing mechanism; 31. Flipping fixture; 32. Flipping robot; 33. Processing platform; 34. Processing execution mechanism; 35. Tray swinging robot; 36. Tray conveying mechanism; 37. Tray discharge mechanism; 38. Tray collection mechanism; 39. Tray swinging position; 40. Lifting drive mechanism; 41. Flipping platform. DETAILED DESCRIPTION

[0022] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to embodiments and drawings. The contents mentioned in the embodiments are not intended to limit the present invention.

[0023] like Figures 1 to 5As shown, the utility model provides a GPS antenna pin welding machine, which includes a machine 1 and a feeding device 2, a first turntable 3, a pin device 4, a second turntable 5, a solder paste brushing device 6, a third turntable 7, a heating platform 8, a cooling platform 9, a fourth turntable 10, a flipping device 11, a processing device 12, a fifth turntable 13 and a material unloading and swinging device 14, which are installed in a straight line on the machine 1. A four-claw synchronous manipulator 15 is movably arranged between the first turntable 3, the pin device 4, the second turntable 5, the solder paste brushing device 6 and the third turntable 7. The third turntable 7, the heating A first feeding robot 16 is movably arranged above the platform 8 and the cooling platform 9, a second feeding robot 17 is movably arranged above the cooling platform 9 and the fourth turntable 10, and a three-claw synchronous feeding robot 18 is movably arranged between the fourth turntable 10, the flipping device 11, the processing device 12 and the fifth turntable 13. The feeding device 2 is used to supply the substrate to the first turntable 3; specifically, the substrate is a ceramic substrate after double-sided printing, the heating platform 8 includes a heating panel and a heating tube embedded in the heating panel, and the cooling platform 9 includes a cooling panel and a refrigeration tube embedded in the cooling panel.

[0024] In actual application, the feeding device 2 supplies the substrate to the first turntable 3, the first gripper of the four-claw synchronous robot 15 transfers the substrate carried by the first turntable 3 to the pin device 4, and the pin device 4 inserts the pin into the socket of the substrate. At the same time, the second gripper of the four-claw synchronous robot 15 transfers the substrate after the pin is inserted to the second turntable 5, and the third gripper of the four-claw synchronous robot 15 transfers the substrate carried by the second turntable 5 to the solder paste brushing device 6, and the solder paste brushing device 6 brushes solder paste on the pin position of the substrate. The fourth gripper of the four-claw synchronous robot 15 transfers the substrate after the solder paste is brushed to the third turntable 7, and the first feeding robot 16 transfers the substrate carried by the third turntable 7 to the heating platform 8, and the heating platform 8 heats the substrate so that the solder paste solders the pin to the substrate. Then, the first feeding robot 16 transfers the substrate on the heating platform 8 to the cooling platform 9 for cooling, the second feeding robot 17 transfers the substrate on the cooling platform 9 to the fourth turntable 10, the first gripper of the three-claw synchronous feeding robot 18 transfers the substrate on the fourth turntable 10 to the flipping device 11, the flipping device 11 flips the substrate so that the front and back sides of the substrate are swapped, the second gripper of the three-claw synchronous feeding robot 18 transfers the flipped substrate to the processing device 12, the processing device 12 processes the other surface of the substrate (such as: sticking adhesive or spraying code, etc.), the third gripper of the three-claw synchronous feeding robot 18 transfers the processed substrate to the fifth turntable 13, the unloading and swiping device 14 unloads and swivels the substrate on the fifth turntable 13. The structure of the utility model is simple, and it can automatically insert pins, apply solder paste and heat and weld, flip over and unload and swivel the substrate, thereby improving the efficiency of GPS antenna production.

[0025] In this embodiment, the feeding device 2 includes a feed tray mechanism 19 installed on the machine 1, a feed tray mechanism 20 installed on the machine 1 and erected above the feed end of the feed tray mechanism 19, a steering output mechanism 21 installed on the machine 1 and connected to the discharge end of the feed tray mechanism 19, a lower CCD visual positioning mechanism 22 installed on the machine 1 and located outside the discharge end of the feed tray mechanism 19, an upper CCD visual positioning mechanism 23 installed on the machine 1 and erected above the discharge end of the feed tray mechanism 19, and a material picking and placing robot 24 installed on the machine 1 and movably arranged between the discharge end of the feed tray mechanism 19 and the first turntable 3.

[0026] The pick-up and unloading robot 24 then moves the substrate to the top of the material tray, and the lower CCD visual positioning mechanism 22 visually locates the substrate and feeds back the visual positioning result to the pick-up and unloading robot 24, which then places the substrate on the first turntable 3. When there is no substrate on the material tray at the material picking position, that is, when the material tray at the material picking position is in an empty state, the steering output mechanism 21 outputs the empty material tray, and the supply tray mechanism 20 then supplies a fully loaded material tray to the feeding tray mechanism 19, so as to realize the supply of fully loaded material trays and the output of empty material trays.

[0027] Specifically, both the upper CCD vision positioning mechanism 23 and the lower CCD vision positioning mechanism 22 may adopt CCD cameras.

[0028] In this embodiment, the feeding device 2 further includes an NG bin 25 mounted on the machine 1 and located to one side of the lower CCD visual positioning mechanism 22 and / or the first turntable 3. The pick-up and place robot 24 is movably positioned above the NG bin 25. In actual use, the lower CCD visual positioning mechanism 22 not only visually positions the substrate on the pick-up and place robot 24, but also visually inspects the external dimensions of the substrate to ensure its quality. If the substrate's quality is satisfactory, the pick-up and place robot 24 places the substrate on the first turntable 3. If the substrate's quality is problematic, the pick-up and place robot 24 places the substrate on the first turntable 3. If the substrate's quality is problematic, the pick-up and place robot 24 places the substrate on the NG bin 25.

[0029] In this embodiment, the pin insertion device 4 includes a pin insertion platform 26 installed on the machine 1, a pin insertion mechanism 27 arranged on one side of the pin insertion platform 26, and a pin insertion robot 28 installed on the machine 1 and movably arranged above the pin insertion mechanism 27 and the pin insertion platform 26; the first jaw of the four-claw synchronous robot 15 moves back and forth between the first turntable 3 and the pin insertion platform 26, the second jaw of the four-claw synchronous robot 15 moves back and forth between the pin insertion platform 26 and the second turntable 5, the third jaw of the four-claw synchronous robot 15 moves back and forth between the second turntable 5 and the solder paste brushing device 6, and the fourth jaw of the four-claw synchronous robot 15 moves back and forth between the solder paste brushing device 6 and the third turntable 7; the pin insertion mechanism 27 supplies pins in the form of a turntable.

[0030] In actual application, the first clamp of the four-claw synchronous robot 15 transfers the substrate on the first turntable 3 to the pin carrier 26, and the pin insertion mechanism 27 supplies pins (PIN pins). The pin insertion robot 28 picks up the pins supplied by the pin insertion mechanism 27 and inserts the pins into the sockets of the substrate.

[0031] In this embodiment, the solder paste brushing device 6 includes a solder paste brushing platform 29 installed on the machine 1 and a solder paste brushing mechanism 30 movably arranged above the solder paste brushing platform 29. The third clamp of the four-claw synchronous robot 15 moves back and forth between the second turntable 5 and the solder paste brushing platform 29, and the fourth clamp of the four-claw synchronous robot 15 moves back and forth between the solder paste brushing platform 29 and the third turntable 7; the solder paste brushing mechanism 30 can adopt the screen printing mechanism in the existing technology to realize solder paste brushing.

[0032] In this embodiment, the flipping device 11 includes a flipping jig 31 installed on the machine 1 and a flipping robot 32 movably arranged above the flipping jig 31. The first jaw of the three-jaw synchronous feeding robot 18 moves back and forth between the fourth turntable 10 and the flipping jig 31, the second jaw of the three-jaw synchronous feeding robot 18 moves back and forth between the flipping jig 31 and the processing device 12, and the third jaw of the three-jaw synchronous feeding robot 18 moves back and forth between the processing device 12 and the fifth turntable 13.

[0033] In actual application, the first gripper of the three-jaw synchronous feeding robot 18 transfers the substrate from the fourth turntable 10 to the flipping jig 31, and the flipping robot 32 flips the substrate on the flipping jig 31 so that the front and back of the substrate are reversed. The flipping robot 32 puts the flipped substrate back into the flipping jig 31, and then the second gripper of the three-jaw synchronous feeding robot 18 transfers the substrate on the flipping jig 31 to the processing device 12.

[0034] In this embodiment, the processing device 12 includes a processing platform 33 mounted on the machine 1 and a processing actuator 34 movably arranged above the processing platform 33. The processing actuator 34 is a back-adhesive mechanism or a coding mechanism. The second clamping jaw of the three-jaw synchronous feeding robot 18 moves back and forth between the flip jig 31 and the processing platform 33, and the third clamping jaw of the three-jaw synchronous feeding robot 18 moves back and forth between the processing platform 33 and the fifth turntable 13. In actual application, the second clamping jaw of the three-jaw synchronous feeding robot 18 transfers the substrate from the flip jig 31 to the processing platform 33, and the processing actuator 34 processes the substrate on the processing platform 33; when the processing actuator 34 is a back-adhesive mechanism, the back-adhesive mechanism adheres the back glue to the substrate; when the processing actuator 34 is a coding mechanism, the coding mechanism performs coding on the substrate.

[0035] In this embodiment, the unloading and tray-swaying device 14 includes a tray-swaying robot 35 installed on the machine 1, a tray conveying mechanism 36 installed on the machine 1, and a tray-discharging mechanism 37 and a tray-receiving mechanism 38 respectively installed on the machine 1 and mounted above the tray conveying mechanism 36. The tray conveying mechanism 36 is provided with a tray-swaying position 39, which is located between the tray-discharging mechanism 37 and the tray-receiving mechanism 38. The tray-swaying robot 35 is movably arranged between the fifth turntable 13 and the tray-swaying position 39. The tray-discharging mechanism 37 is used to place the loading tray onto the tray conveying mechanism 36, and the tray-receiving mechanism 38 is used to collect the loading tray on the tray conveying mechanism 36.

[0036] In actual application, the unloading tray mechanism 37 places the empty loading tray on the tray conveying mechanism 36, and the tray conveying mechanism 36 conveys the loading tray to the swing tray position 39. The swing tray robot 35 picks up the double-sided printed substrate carried by the unloading table and puts it on the loading tray at the swing tray position 39 to realize the unloading and swinging of the substrate. When the loading tray at the swing tray position 39 is full, the tray conveying mechanism 36 conveys the full loading tray to the receiving tray mechanism 38, and the receiving tray mechanism 38 collects and stacks the full loading trays.

[0037] In this embodiment, the flipping jig 31 includes a lifting drive mechanism 40 installed on the machine 1 and a flipping platform 41 installed at the lifting end of the lifting drive mechanism 40. The flipping robot 32 is movably arranged above the flipping platform 41, and the lifting drive mechanism 40 is used to drive the flipping platform 41 to rise and fall.

[0038] In actual application, after a substrate is placed on the flipping stage 41, the lifting drive mechanism 40 drives the flipping stage 41 to rise along with the substrate, allowing the flipping robot 32 to pick up the substrate. The lifting drive mechanism 40 then drives the flipping stage 41 to descend, allowing the flipping robot 32 to flip the substrate. The lifting drive mechanism 40 then drives the flipping stage 41 to ascend, allowing the flipping robot 32 to place the flipped substrate back on the flipping stage 41. The lifting and lowering of the flipping stage 41 does not interfere with the flipping of the substrate by the flipping robot 32.

[0039] All technical features in this embodiment can be freely combined according to actual needs.

[0040] The above embodiments are preferred implementation schemes of the present invention. In addition, the present invention can also be implemented in other ways. Any obvious replacement without departing from the concept of the present technical solution is within the scope of protection of the present invention.

Claims

1. A GPS antenna pin welding machine, characterized by: The invention comprises a machine (1) and a feeding device (2) linearly mounted on the machine (1), a first turntable (3), a pin insertion device (4), a second turntable (5), a solder paste brushing device (6), a third turntable (7), a heating platform (8), a cooling platform (9), a fourth turntable (10), a flipping device (11), a processing device (12), a fifth turntable (13) and a material unloading and swinging device (14), the first turntable (3), the pin insertion device (4), the second turntable (5), the solder paste brushing device (6) and the third turntable (7) A four-claw synchronous manipulator (15) is movably arranged between the three turntables (7), the heating platform (8) and the cooling platform (9), a first feeding manipulator (16) is movably arranged above the third turntable (7), the heating platform (8) and the cooling platform (9), a second feeding manipulator (17) is movably arranged above the cooling platform (9) and the fourth turntable (10), a three-claw synchronous feeding manipulator (18) is movably arranged between the fourth turntable (10), the flipping device (11), the processing device (12) and the fifth turntable (13), and the feeding device (2) is used to supply substrates to the first turntable (3).

2. The GPS antenna pin welding machine according to claim 1, characterized in that: The feeding device (2) comprises a feeding tray mechanism (19) mounted on the machine (1), a feeding tray mechanism (20) mounted on the machine (1) and mounted above the feeding end of the feeding tray mechanism (19), a steering output mechanism (21) mounted on the machine (1) and connected to the discharging end of the feeding tray mechanism (19), a lower CCD visual positioning mechanism (22) mounted on the machine (1) and located outside the discharging end of the feeding tray mechanism (19), an upper CCD visual positioning mechanism (23) mounted on the machine (1) and mounted above the discharging end of the feeding tray mechanism (19), and a material taking and placing robot (24) mounted on the machine (1) and movably arranged between the discharging end of the feeding tray mechanism (19) and the first turntable (3).

3. The GPS antenna pin welding machine according to claim 2, characterized in that: The feeding device (2) further comprises an NG material box (25) installed on the machine platform (1) and located on one side of the lower CCD visual positioning mechanism (22) or / and the first turntable (3); and a material taking and placing robot (24) can be movably arranged above the NG material box (25).

4. The GPS antenna pin welding machine according to claim 1, characterized in that: The pin insertion device (4) comprises a pin insertion platform (26) mounted on the machine (1), a pin insertion mechanism (27) arranged on one side of the pin insertion platform (26), and a pin insertion robot (28) mounted on the machine (1) and movably arranged above the pin insertion mechanism (27) and the pin insertion platform (26); the first clamping jaw of the four-claw synchronous robot (15) moves back and forth between the first turntable (3) and the pin insertion platform (26), the second clamping jaw of the four-claw synchronous robot (15) moves back and forth between the pin insertion platform (26) and the second turntable (5), the third clamping jaw of the four-claw synchronous robot (15) moves back and forth between the second turntable (5) and the solder paste brushing device (6), and the fourth clamping jaw of the four-claw synchronous robot (15) moves back and forth between the solder paste brushing device (6) and the third turntable (7).

5. The GPS antenna pin welding machine according to claim 1, characterized in that: The solder paste brushing device (6) includes a solder paste brushing platform (29) installed on the machine (1) and a solder paste brushing mechanism (30) movably arranged above the solder paste brushing platform (29); the third clamping jaw of the four-claw synchronous manipulator (15) moves back and forth between the second turntable (5) and the solder paste brushing platform (29); and the fourth clamping jaw of the four-claw synchronous manipulator (15) moves back and forth between the solder paste brushing platform (29) and the third turntable (7).

6. The GPS antenna pin welding machine according to claim 1, characterized in that: The flipping device (11) comprises a flipping jig (31) mounted on the machine (1) and a flipping manipulator (32) movably arranged above the flipping jig (31); a first clamping jaw of a three-claw synchronous feeding manipulator (18) reciprocates between the fourth turntable (10) and the flipping jig (31); a second clamping jaw of the three-claw synchronous feeding manipulator (18) reciprocates between the flipping jig (31) and the processing device (12); and a third clamping jaw of the three-claw synchronous feeding manipulator (18) reciprocates between the processing device (12) and the fifth turntable (13).

7. The GPS antenna pin welding machine according to claim 1, characterized in that: The processing device (12) includes a processing platform (33) installed on the machine (1) and a processing execution mechanism (34) movably arranged above the processing platform (33). The processing execution mechanism (34) is a back glue sticking mechanism or a coding mechanism. The second clamping jaw of the three-claw synchronous feeding manipulator (18) moves back and forth between the turning fixture (31) and the processing platform (33), and the third clamping jaw of the three-claw synchronous feeding manipulator (18) moves back and forth between the processing platform (33) and the fifth turnover table (13).

8. The GPS antenna pin welding machine according to claim 1, characterized in that: The unloading tray swinging device (14) comprises a tray swinging manipulator (35) installed on the machine (1), a tray conveying mechanism (36) installed on the machine (1), and a tray discharge mechanism (37) and a tray receiving mechanism (38) respectively installed on the machine (1) and mounted above the tray conveying mechanism (36). The tray conveying mechanism (36) is provided with a tray swinging position (39), which is located between the tray discharge mechanism (37) and the tray receiving mechanism (38). The tray swinging manipulator (35) is movably arranged between the fifth turntable (13) and the tray swinging position (39). The tray discharge mechanism (37) is used to place a loading tray onto the tray conveying mechanism (36), and the tray receiving mechanism (38) is used to receive the loading tray on the tray conveying mechanism (36).

9. The GPS antenna pin welding machine according to claim 6, characterized in that: The flipping fixture (31) comprises a lifting drive mechanism (40) installed on the machine (1) and a flipping platform (41) installed on the lifting end of the lifting drive mechanism (40); a flipping manipulator (32) is movably arranged above the flipping platform (41); and the lifting drive mechanism (40) is used to drive the flipping platform (41) to rise and fall.

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