Ground rail flip chip bonding robot and ground rail flip chip bonding system integrated with measuring device

Abstract

The utility model relates to welding robot technical field provides a ground rail upside -down welding robot and ground rail upside -down welding system of integrated measuring device, including track, measuring device and ground rail upside -down welding robot, measuring device slip connection is in the track, and measuring device can carry out detection to welding target, ground rail upside -down welding robot slip connection is in the track, and ground rail upside -down welding robot can cooperate measuring device and carry out welding to welding target, the utility model integrates measuring device to ground rail upside -down welding robot, and the detection of welding target can generate accurate welding track through measuring device cabinet, for upside -down welding robot and carry out welding according to welding track, to promote the welding effect, and face different welding objects, can quickly determine the best welding path, promote the welding efficiency.

Description

TECHNICAL FIELD

[0001] The utility model relates to welding robot technical field, especially to a ground rail inverted welding robot of integrated measuring device, cleaning robot and ground rail inverted welding robot. BACKGROUND

[0002] With the welding robot welding quality is high, work efficiency is fast, artificial cost bottom advantage is widely used by welding industry, and single welding robot causes the limitation of welding range, leads to small work range, cannot complete the workpiece welding requirement of size diversification, based on this, large enterprises start to develop welding robot workstation to satisfy corresponding welding requirement, and the ground rail type welding robot workstation is also one of common ones.

[0003] CN118287914A A ground rail type welding robot workstation, comprising a plurality of racks, the outer wall top of the rack is provided with a walking ground rail, the walking ground rail is slidably connected with a sliding plate, the robot body is installed on the sliding plate, the walking ground rail is slidably connected with the sliding plate, and the robot body is installed on the sliding plate, the inside of the sliding plate is provided with L-shaped connecting blocks on both sides, one side of the sliding plate is fixedly connected with one side of the ground rail extension plate through the L-shaped connecting block, recessed side plates are installed around the sliding plate and the ground rail extension plate, the bottom end of the L-shaped connecting block is fixed on the sliding table, the sliding table is installed on the sliding rail, the bottom end of the sliding rail is provided with a sliding rail mounting plate, two sliding rail mounting plates are symmetrically installed on the rectangular base, a guide rail protection cover is installed between the L-shaped connecting block and the sliding plate above the sliding rail, the guide rail protection cover is installed on the sliding rail mounting plate through the cover support plate, a rack is installed on one side of the guide rail protection cover, and a rack guard plate is installed on the outer side of the rack.

[0004] CN115922031A The present application relates to the technical field of welding robots, and particularly relates to a ground rail independent cantilever welding robot production line, the present application controls the arc welding robot to start welding work through a control cabinet, in the arc welding robot welding process, the laser positioning and tracking module tracks and positions the weld, and cooperates with the cantilever column and the welding positioner to move, changes the welding position into flat welding and flat angle welding, reduces the welding difficulty, achieves good forming and qualified weld at the welding position, and the right-angle turning welding pass can stably weld without stopping arc, so that the arc welding robot automatically completes welding work at various angles, so as to realize the production purpose of full-automatic welding, and the purpose of full-automatic welding production is achieved, multiple cantilever columns and arc welding robots are adopted to cooperate with each other, so that multi-thread automatic welding is realized, and the welding efficiency is improved.

[0005] In the prior art, when the inverted welding robot is welding, it is welded through a program or manual operation, so that the welding efficiency is low and the welding path is prone to deviation, finally leading to the phenomenon that the weld is offset, thereby reducing the mechanical properties of welding. Utility model content

[0006] Through long-term production practice, it is found that when the inverted welding robot is welding, it is through program or manual operation, which leads to low welding efficiency and deviation of welding path, finally leads to the phenomenon that the welding seam core still exists deviation, thereby reducing the mechanical properties of welding. And often face different welding objects, each time when welding new object, it needs to set welding path or welding point position once, then let the automatic welding equipment process according to the set mode, and cannot adapt to the case that the welding position appears large change.

[0007] Therefore, the utility model aims at providing a ground rail inverted welding robot integrated with a measuring device, which comprises a track, a measuring device and a ground rail inverted welding robot.

[0008] In one embodiment, the measuring device further comprises a cleaning device, and the measuring device is connected with the track through the cleaning device; the cleaning device is arranged on the side of the measuring device facing the track, and the cleaning device is used for cleaning the track.

[0009] In one embodiment, the cleaning device comprises a main body, a driving mechanism and a cleaning mechanism; the main body is slidably connected to the track of the ground rail inverted welding robot; the cleaning mechanism comprises a cleaning gear and a liquid spraying mechanism; the driving mechanism is connected with the cleaning gear, and the cleaning gear is engaged with a rack of the track; the driving mechanism can drive the main body to move relative to the track through the cleaning gear; the liquid spraying mechanism is connected to the main body and is arranged towards the rack; the liquid spraying mechanism can spray cleaning liquid to the rack when the cleaning gear rotates relative to the rack.

[0010] In one embodiment, the main body is formed with a clamping groove, and the clamping groove can be clamped to the track.

[0011] In one embodiment, the cleaning mechanism comprises a liquid storage tank, a pump body and a nozzle; the liquid storage tank is fixed to the side of the main body away from the track, and the liquid storage tank is connected with the nozzle through the pump body; the pump body can spray the cleaning liquid in the liquid storage tank out through the nozzle.

[0012] In one embodiment, the nozzle can be three, respectively towards the track and the rack on both sides.

[0013] In one embodiment, a buffer chamber is further arranged between the pump body and the spout; the buffer chamber is connected with the spout through a liquid channel; after the cleaning liquid is pumped into the buffer chamber through the pump body, the cleaning liquid flows to the spout along the liquid channel, and the cleaning liquid at least includes rust inhibitor, cleaning agent and oily additive.

[0014] In one embodiment, the cleaning gear at least includes a felt layer.

[0015] In one embodiment, the driving mechanism is connected with a controller; the main body is provided with a touch sensor connected with the controller; when the touch sensor detects that the main body moves to the first end or the second end of the track, the controller can control the driving mechanism to stop driving.

[0016] The utility model discloses a kind of ground rail flip-chip welding systems, the ground rail flip-chip welding system, including the ground rail flip-chip welding robot of any one integrated measuring device.

[0017] The utility model discloses an integrated measuring device's ground rail flip-chip welding robot, including track, measuring device and ground rail flip-chip welding robot;Measuring device is slidably connected on track, and measuring device can detect welding target;Ground rail flip-chip welding robot is slidably connected on track, and ground rail flip-chip welding robot can cooperate with measuring device and weld welding target;The utility model integrates measuring device to ground rail flip-chip welding robot, and the accurate welding track can be generated by detecting welding target by measuring device cabinet, for flip-chip welding robot to weld according to welding track, to improve welding effect, and face different welding objects, the optimal welding path can be quickly determined, and welding efficiency is improved.

[0018] Other features and advantages of the utility model will be described in detail in the following specific embodiment part. ACCURACY

[0019] The accompanying drawings, which form a part of the present application, are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the present application and serve to explain the principles of the present application. In the drawings:

[0020] Figure 1 It is the structure schematic diagram of the integrated measuring device's ground rail flip-chip welding robot of one embodiment of the utility model;

[0021] Figure 2 It is the bottom schematic view of the integrated measuring device's ground rail flip-chip welding robot of one embodiment of the utility model;

[0022] Figure 3The utility model discloses a cleaning gear schematic view of ground rail flip -chip bonding robot of integrated measuring device's one embodiment of the utility model,

[0023] Figure 4 The utility model discloses a structure schematic view of ground rail flip -chip bonding robot of integrated measuring device's one embodiment of the utility model,

[0024] Figure 5 The utility model discloses a side sectional view schematic view of ground rail flip -chip bonding robot of integrated measuring device's one embodiment of the utility model.

[0025] Mark explanation:

[0026] 1, main body;11, clamping groove;2, driving mechanism;3, cleaning mechanism;31, cleaning gear;311, felt layer;32, liquid spraying mechanism;321, liquid storage tank;322, pump body;323, spout;324, buffer chamber;4, track;41, rack;5, ground rail flip -chip bonding robot;6, measuring device. Specific implementation

[0027] The specific implementation of the utility model will be described in detail below in combination with the drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the utility model, and is not used to limit the utility model.

[0028] In order to make the person in this field better understand the utility model scheme, the technical scheme in the embodiment of the utility model will be described clearly and completely below in combination with the drawings in the embodiment of the utility model. Obviously, the described embodiment is only a part of the embodiment of the utility model, not all the embodiments. Based on the embodiment in the utility model, all other embodiments obtained by the person skilled in the art without creative labor should belong to the protection scope of the utility model.

[0029] It should be noted that the terms "first", "second" and the like in the specification and claims of the utility model and the above-mentioned drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiment of the utility model described here can be interchanged. In addition, the terms "include" and "have" and their any modification are intended to cover non-exclusive inclusion, for example, the process, method, system, product or equipment including a series of steps or units does not have to be limited to the clearly listed steps or units, but can include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment;"Fixed" or "fixed connection" usually refers to common mechanical connection methods, such as threaded connection, welding or bonding, etc.

[0030] Figure 1 It is a structure schematic view of the ground rail flip-chip welding robot 5 of the integrated measuring device 6 of an embodiment of the utility model; Figure 2 It is a bottom schematic view of the ground rail flip-chip welding robot 5 of the integrated measuring device 6 of an embodiment of the utility model; Figure 3 It is a cleaning gear 31 schematic view of the ground rail flip-chip welding robot 5 of the integrated measuring device 6 of an embodiment of the utility model. Figure 4 And Figure 5 ; please refer to Figure 1 、 Figure 2 And Figure 3 .

[0031] Through long-term production practice, it is found that when the flip-chip welding robot is welding, it is through program or manual operation, resulting in low welding efficiency and deviation of welding path, finally leading to the phenomenon that the weld joint is offset, thereby reducing the mechanical properties of welding. And often face different welding objects, each time when welding a new object, the welding path or welding point needs to be set manually, and then the automatic welding equipment is processed according to the set mode, and it cannot adapt to the case that the welding position changes greatly.

[0032] Therefore, the utility model aims at providing a ground rail flip-chip welding robot 5 of integrated measuring device 6, including track 4, measuring device 6 and ground rail flip-chip welding robot 5;Measuring device 6 slip connection is in track 4, and measuring device 6 can detect welding target;Ground rail flip-chip welding robot 5 slip connection is in track 4, and ground rail flip-chip welding robot 5 can cooperate with measuring device 6 and weld welding target.

[0033] The utility model discloses a ground rail flip-chip welding robot 5 of integrated measuring device 6, including track 4, measuring device 6 and ground rail flip-chip welding robot 5;Measuring device 6 slip connection is in track 4, and measuring device 6 can detect welding target;Ground rail flip-chip welding robot 5 slip connection is in track 4, and ground rail flip-chip welding robot 5 can cooperate with measuring device 6 and weld welding target;The utility model integrates measuring device 6 to ground rail flip-chip welding robot 5, and the accurate welding track can be generated by detecting welding target through measuring device 6, so that the flip-chip welding robot is welded according to the welding track, the welding effect is improved, and the best welding path can be quickly determined when facing different welding objects, and the welding efficiency is improved.

[0034] In the embodiment of the utility model, track 4 points to the ground rail, is used for the welding device and measuring device 6 slip connection, measuring device 6 includes at least base plate, stand and measuring sensor, base plate slip connection is in track 4, base plate forms at least movement structure, can drive base plate relative ground rail slip. Stand is connected with base plate, and measuring sensor is arranged at the end of stand away from track 4;Measuring sensor is used to measure the welding target to determine the welding path;Ground rail flip welding robot 5 slip connection is in track 4, and ground rail flip welding robot 5 also includes base plate, second stand and flip welding robot, base plate slip connection is in track 4, and base plate also forms at least movement structure, can drive base plate relative ground rail slip. Second stand is connected with base plate, and flip welding robot is connected to the end of second stand away from track 4;Flip welding robot can weld the welding target according to the welding path, so that the welding target is welded by ground rail flip welding robot 5 in cooperation with measuring device 6, and precise automatic welding is realized. The above-mentioned base plate can be integrally arranged or separately arranged.

[0035] Through long-term production practice, it is found that when the flip welding robot is welded, the molten slag is very easy to splash into the track 4, if the track 4 is not cleaned for a long time, the damage to the track 4 and the moving parts matched with the track 4 is caused, thereby affecting the movement precision;If cleaned by manual, the problem of waste of human resources is caused.

[0036] In one embodiment, the measuring device 6 further comprises a cleaning device, and the measuring device 6 is connected with the track 4 through the cleaning device;The cleaning device is arranged on the side of the measuring device 6 facing the track 4, and the cleaning device is used for cleaning the track 4.

[0037] In the embodiment of the utility model, the cleaning device is arranged below the base plate to clean and maintain the track 4, so as to ensure the smooth movement.

[0038] The ground rail flip welding robot 5 provided by the application can automatically clean the rack 41 and the track 4 through the cleaning device, ensure the normal operation of the track 4, and realize the regular cleaning of the track 4. The cleaning device is arranged in the ground rail flip welding robot 5, and the cleaning device comprises a main body 1, a driving mechanism 2 and a cleaning mechanism 3;The main body 1 is slip-connected on the track 4 of the ground rail flip welding robot 5;The cleaning mechanism 3 comprises a cleaning gear 31 and a liquid spraying mechanism 32;The driving mechanism 2 is connected with the cleaning gear 31, the cleaning gear 31 is engaged with the rack 41 of the track 4;The driving mechanism 2 can drive the main body 1 to move relative to the track 4 through the cleaning gear 31;The liquid spraying mechanism 32 is connected to the main body 1, and the liquid spraying mechanism 32 is arranged towards the rack 41;The liquid spraying mechanism 32 can spray cleaning liquid to the rack 41 when the cleaning gear 31 rotates relative to the rack 41.

[0039] In the embodiment of the utility model, main body 1, drive mechanism 2 and cleaning mechanism 3, main body 1 refers to the main component of ground rail flip -chip bonding robot 5 of integrated measuring device 6, main body 1 is connected on the track 4 of ground rail flip -chip bonding robot 5, specifically, the clamping groove 11 can be formed on main body 1, the clamping groove 11 can be arranged as a right-angle slot to facilitate the connection and separation of main body 1 and track 4, so that ground rail flip -chip bonding robot 5 of integrated measuring device 6 can be placed in track 4 when cleaning is needed, and ground rail flip -chip bonding robot 5 of integrated measuring device 6 can be taken out when cleaning is not needed, to avoid affecting the use of ground rail bonding robot, wherein cleaning mechanism 3 includes cleaning gear 31 and liquid spraying mechanism 32, cleaning gear 31 includes at least felt layer 311, felt layer 311 is bonded on the outside of the gear to clean the rack 41 in the track 4 through felt layer 311 to avoid the influence of welding slag in the rack 41 on the cooperation of the rack 41 and the gear or damage the gear. It should be noted that the size of the felt gear through the felt layer 311 is used as the parameter of the gear to facilitate the cooperation of the felt gear and the rack 41. Drive mechanism 2 is connected with cleaning gear 31, and cleaning gear 31 is engaged with the rack 41 of track 4. Drive mechanism 2 drives cleaning gear 31 to rotate, which can drive main body 1 to move relative to track 4 through cleaning gear 31, so as to realize the cleaning of the rack 41. Further, liquid spraying mechanism 32 is connected to main body 1, and liquid spraying mechanism 32 is arranged towards the rack 41. Liquid spraying mechanism 32 can spray cleaning liquid to the rack 41 when cleaning gear 31 rotates relative to the rack 41. The cleaning and maintenance of the rack 41 can be realized through the cleaning liquid, thereby improving the smoothness of the ground rail sliding. Further, since the interference of welding slag on both sides of track 4 on the sliding rail is small, the influence is also small, so the setting of multiple nozzles enables the nozzles to clean the rack 41 and the two tracks 4 at the same time. Specifically, the spray port 323 can be three, respectively towards the two tracks 4 and the rack 41 on both sides. Thus, the maintenance and cleaning of the track 4 are realized. The cleaning liquid includes at least rust inhibitor, cleaning agent and oily additive to realize the cleaning of the track 4 and the rack 41, and at the same time, the rust prevention and lubrication of the track 4 and the rack 41 are realized, thereby reducing the workload of workers and improving the working efficiency of the equipment.

[0040] Figure 4 It is a structure schematic view of the ground rail flip -chip bonding robot 5 of integrated measuring device 6 of an embodiment of the utility model, Figure 5 It is a side sectional view schematic view of the ground rail flip -chip bonding robot 5 of integrated measuring device 6 of an embodiment of the utility model. Please refer to Figure 4 And Figure 5 ;

[0041] In one embodiment, the cleaning mechanism 3 comprises a liquid storage tank 321, a pump body 322 and a nozzle 323; the liquid storage tank 321 is fixed on the side of the main body 1 away from the track 4, and the liquid storage tank 321 is connected with the nozzle 323 through the pump body 322; the pump body 322 can spray the cleaning liquid in the liquid storage tank 321 out through the nozzle 323.

[0042] In the embodiment of the utility model, a cleaning mechanism 3 specific structure is disclosed, including liquid storage tank 321, pump body 322 and spout 323;Liquid storage tank 321 is cylindrical, and the liquid storage tank 321 is fixed on the main body 1, specifically fixed on the side of the main body 1 away from the track 4, and the liquid storage tank 321 forms an accommodation space for accommodating the cleaning liquid. Wherein, the liquid storage tank 321 is connected with the nozzle 323 through the pump body 322;The pump body 322 can be a water pump, which is used to pump the cleaning liquid in the liquid storage tank 321 out through the pump body 322 to the nozzle 323, so that the cleaning liquid is sprayed out through the nozzle 323.

[0043] Further, a buffer chamber 324 is arranged between the pump body 322 and the nozzle 323;The buffer chamber 324 is transversely arranged above the main body 1;The buffer chamber 324 is connected with the nozzle 323 through a liquid channel;The liquid channel is located in the main body 1, and the cleaning liquid is pumped into the buffer chamber 324 through the pump body 322, and then flows to the nozzle 323 along the liquid channel. The setting of the buffer chamber 324 can buffer the cleaning liquid, further, the pump body 322 pumps the cleaning liquid out to the nozzle 323, so that a large amount of foam is generated, which will affect the cleaning effect to a certain extent. The setting of the buffer chamber 324 can defoam the foam to a certain extent, so as to improve the cleaning effect.

[0044] In one embodiment, the driving mechanism 2 is connected with a controller;The main body 1 is provided with a touch sensor, and the touch sensor is connected with the controller;When the touch sensor detects that the main body 1 moves to the first end or the second end of the track 4;The controller can control the driving mechanism 2 to stop driving.

[0045] In the embodiment of the present disclosure, the cooperation of the controller and the touch sensor can realize the precise control of the ground rail flip chip bonding robot 5 of the integrated measuring device 6. When the touch sensor detects that the main body 1 touches the endpoint, the controller can control the driving mechanism 2 to stop driving. Further, when the touch sensor detects that the main body 1 touches the endpoint for the first time, the controller can also control the driving mechanism 2 to reverse, so as to realize secondary cleaning and make the cleaning mechanism 3 return to the original position, which is convenient for the staff to take out the track 4. Wherein, the driving mechanism 2 can be a motor.

[0046] The utility model discloses a ground rail flip chip bonding system in another aspect, and the ground rail flip chip bonding robot 5 comprises the ground rail flip chip bonding system of any one of the integrated measuring device 6.

[0047] It should be noted that, for the foregoing method embodiments, for the sake of simple description, they are all described as a combination of a series of actions, but those skilled in the art should know that the present application is not limited by the action sequence described, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions and modules involved are not necessarily necessary for the present application.

[0048] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0049] In the several embodiments provided by the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic. The division of the units is only a logical function division. There can be another division manner in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed coupling or direct coupling or communication connection between the units can be indirect coupling or communication connection through some interface, device or unit, and can be electrical or other form.

[0050] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0051] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The above integrated unit can be realized in the form of hardware or in the form of software functional unit.

[0052] The integrated unit, if realized in the form of software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical scheme of the present application or the part that contributes to the prior art or the whole or part of the technical scheme can be embodied in the form of software product, which is stored in a storage medium and includes a plurality of instructions for making a computer device (which can be a personal computer, a mobile terminal, a server or a network device, etc.) execute all or part of the steps of the method described in each embodiment of the present application.

[0053] The above merely describes preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An integrated measuring device floor rail flip chip bonder robot characterized by, The rail (4), the measuring device (6) and the ground rail flip welding robot (5) are connected in series. The measuring device (6) is connected in series on the rail (4) and can detect the welding target. The ground rail flip welding robot (5) is connected in series on the rail (4) and can cooperate with the measuring device (6) to weld the welding target.

2. The floor-to-ceiling inverted-welding robot of an integrated measuring device according to claim 1, characterized in that, The measuring device (6) further comprises a cleaning device, and the measuring device (6) is connected with the rail (4) through the cleaning device. The cleaning device is arranged on the side of the measuring device (6) facing the rail (4), and the cleaning device is used for cleaning the rail (4).

3. The floor-to-ceiling flip chip bonder robot of claim 2, wherein, The cleaning device comprises a main body (1), a driving mechanism (2) and a cleaning mechanism (3). The main body (1) is connected in series on the rail (4) of the ground rail flip welding robot (5). The cleaning mechanism (3) comprises a cleaning gear (31) and a liquid spraying mechanism (32). The driving mechanism (2) is connected with the cleaning gear (31), the cleaning gear (31) is engaged with the rack (41) of the rail (4), and the driving mechanism (2) can drive the main body (1) to move relative to the rail (4) through the cleaning gear (31). The liquid spraying mechanism (32) is connected on the main body (1), and the liquid spraying mechanism (32) is arranged towards the rack (41); the liquid spraying mechanism (32) can spray cleaning liquid to the rack (41) when the cleaning gear (31) rotates relative to the rack (41).

4. The floor-to-ceiling flip chip bonder robot of claim 3, wherein, The main body (1) is formed with a clamping groove (11), and the clamping groove (11) can be clamped to the rail (4).

5. The floor-to-ceiling flip chip bonder robot of claim 3, wherein, The cleaning mechanism (3) comprises a liquid storage tank (321), a pump body (322) and a nozzle (323). The liquid storage tank (321) is fixed on the side of the main body (1) away from the rail (4), and the liquid storage tank (321) is connected with the nozzle (323) through the pump body (322). The pump body (322) can spray the cleaning liquid in the liquid storage tank (321) out through the nozzle (323).

6. The floor-to-ceiling flip chip bonder robot of claim 5, wherein, The nozzle (323) can be three, respectively facing the two sides of the rail (4) and the rack (41).

7. The floor-to-ceiling flip chip bonder robot of claim 3, wherein, The cleaning gear (31) comprises at least a felt layer (311).

8. The floor-to-ceiling inverted-welding robot of claim 3, wherein, The driving mechanism (2) is connected with a controller. The main body (1) is provided with a touch sensor, and the touch sensor is connected with the controller. When the main body (1) moves to the first end or the second end of the rail (4), the controller can control the driving mechanism (2) to stop driving.

9. A floor rail inverted soldering system, characterized by, The ground rail flip welding system comprises the ground rail flip welding robot (5) of any one of claims 1-8.

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