Full-automatic tin soldering equipment utilizing visual positioning and detection

Abstract

The utility model discloses full-automatic tin soldering equipment utilizing visual positioning and detection. The full-automatic tin soldering equipment comprises a soldering tin conveying device, an automatic tin soldering device, a visual positioning and transferring device and a sorting device. The tin soldering conveying belt conveys workpieces to be welded, the automatic tin soldering device comprises an automatic tin soldering robot used for conducting tin soldering operation on the workpieces to be welded, and the visual positioning and transferring device comprises a transferring robot provided with a visual positioning assembly and a visual detection assembly. The visual positioning assembly identifies and positions the welding spot position of the workpiece to be welded, the visual detection assembly detects the soldering tin quality after soldering is completed, and the transfer robot transfers the workpiece after soldering to the sorting device. And the sorting device is used for classifying the workpieces subjected to tin soldering. According to the full-automatic tin soldering device utilizing visual positioning and detection, automatic recognition, precise welding, post-welding detection and automatic sorting of the workpieces to be welded are achieved, the tin soldering efficiency is improved, manual intervention is reduced, the welding quality is guaranteed, and automatic and intelligent control over the tin soldering process is achieved.

Description

Technical Field

[0001] This application relates to the field of soldering technology, and in particular to a fully automated soldering device that utilizes visual positioning and inspection. Background Technology

[0002] Transformers are core components in automotive electronic circuits, enabling voltage boosting or bucking. Their performance directly impacts the stability and safety of the entire vehicle's electrical system. In transformer manufacturing, soldering is a critical step; the quality of the solder affects not only the conductivity and mechanical strength of the product but also its reliability and consistency in actual use. Therefore, the stability and automation level of the transformer soldering process are key factors in ensuring the quality of the entire vehicle's electronic system. Currently, transformer soldering is still primarily done manually or with semi-automated equipment. These methods generally suffer from high labor intensity, heavy worker workloads, and a high dependence on the operator's skill level. In actual production, due to human factors, defects such as incomplete soldering, cold soldering, false soldering, or short circuits often occur, leading to poor product consistency and easily causing circuit failures. Furthermore, traditional soldering methods have significant shortcomings in efficiency, cycle time control, and solder joint inspection, especially when facing complex batch customized production needs, failing to guarantee the efficient and stable operation of the production line. Utility Model Content

[0003] This application aims to address at least one of the technical problems existing in the prior art. This application provides a fully automated soldering equipment utilizing visual positioning and inspection, employing a single-track or multi-track parallel buffer operation structure, combining visual recognition technology with robot collaborative control to achieve automatic identification, precise positioning, automatic soldering, and post-soldering quality inspection of solder joints, thus completing the entire automated soldering process.

[0004] The fully automated soldering equipment utilizing visual positioning and detection according to embodiments of this application includes:

[0005] A solder conveying device, the solder conveying device comprising at least one solder conveyor belt;

[0006] An automatic soldering device, comprising an automatic soldering robot, the automatic soldering robot being used to perform soldering operations on workpieces to be soldered on the solder conveyor belt;

[0007] Visual positioning transfer device;

[0008] A sorting device is used to classify soldered workpieces.

[0009] The visual positioning and transfer device includes a transfer robot, a visual positioning component, and a visual inspection component. The visual positioning component and the visual inspection component are both mounted on the transfer robot. The visual positioning component is used to identify and locate the solder joints of the workpiece to be soldered, and the visual inspection component is used to inspect the solder quality after soldering. The transfer robot is used to transfer the soldered workpiece to the sorting device.

[0010] The fully automated soldering equipment utilizing visual positioning and detection according to the embodiments of this application has at least the following beneficial effects:

[0011] This application discloses a fully automated soldering equipment utilizing vision positioning and inspection, comprising a solder conveying device, an automatic soldering device, a vision positioning transfer device, and a sorting device. The solder conveying device includes at least one solder conveyor belt that transports workpieces to be soldered. The automatic soldering device and the vision positioning transfer device perform operations on the workpieces on the solder conveyor belt. The automatic soldering device includes an automatic soldering robot that performs soldering operations on the workpieces on the solder conveyor belt. The vision positioning transfer device includes a transfer robot, a vision positioning component, and a vision inspection component, both of which are mounted on the transfer robot. The vision positioning component identifies and locates the solder joint positions on the workpieces to be soldered, the vision inspection component inspects the quality of the solder after soldering, and the transfer robot transfers the soldered workpieces to the sorting device. The sorting device classifies the soldered workpieces. This application utilizes a fully automated soldering equipment based on visual positioning and inspection to achieve automatic identification, precise soldering, post-soldering inspection, and automatic sorting of workpieces to be soldered, thereby improving soldering efficiency and consistency, reducing manual intervention, ensuring soldering quality, and realizing automated and intelligent control of the soldering process.

[0012] According to some embodiments of this application, the solder conveyor belts are configured as two belts, namely a first solder conveyor belt and a second solder conveyor belt, which are connected in parallel. According to some embodiments of this application,

[0013] According to some embodiments of this application, the solder conveying device further includes a clamping and fixing assembly disposed on the side of the solder conveyor belt.

[0014] According to some embodiments of this application, a feeding device and a gripping device are also included, the gripping device transferring the workpiece to be soldered from the feeding device to the solder conveyor belt. According to some embodiments of this application,

[0015] According to some embodiments of this application, the sorting device includes a sorting conveyor belt and a visual inspection solder joint assembly, the visual inspection solder joint assembly being used to detect the solder quality of workpieces on the sorting conveyor belt.

[0016] According to some embodiments of this application, the sorting device further includes a screening component, which includes a partition and a sorting component. The partition is disposed on the sorting conveyor belt and divides the sorting conveyor belt into at least two conveying channels. The sorting component is used to push the soldered workpieces into the conveying channels.

[0017] According to some embodiments of this application, the sorting device further includes an identification component for marking the workpiece.

[0018] According to some embodiments of this application, both the visual positioning component and the visual detection component are provided with a visual camera, a light source, and a light source controller.

[0019] According to some embodiments of this application, it also includes a frame body and an electrical control cabinet, the electrical control cabinet being disposed at the lower end of the solder conveying device, and the solder conveying device, the automatic soldering device and the visual positioning and transfer device being disposed within the frame body.

[0020] According to some embodiments of this application, the frame body is also provided with a human-machine interface, a safety control switch, a warning indicator light, and an industrial control touch screen all-in-one machine. Attached Figure Description

[0021] The present application will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0022] Figure 1 This is a front view structural diagram of a fully automated soldering equipment utilizing visual positioning and detection according to an embodiment of this application;

[0023] Figure 2 This is a rear view structural diagram of a fully automated soldering equipment utilizing visual positioning and detection according to an embodiment of this application;

[0024] Figure 3 This is a left-side structural schematic diagram of a fully automated soldering equipment utilizing visual positioning and detection according to an embodiment of this application;

[0025] Figure 4 This is a right-side structural schematic diagram of a fully automated soldering equipment utilizing visual positioning and detection according to an embodiment of this application;

[0026] Figure 5 This is a top view schematic diagram of a fully automated soldering equipment utilizing visual positioning and detection according to an embodiment of this application;

[0027] Figure 6 for Figure 1 Another structural diagram;

[0028] Figure 7 for Figure 6Another structural diagram;

[0029] Figure 8 This is a schematic diagram of the structure of a fully automated soldering equipment utilizing visual positioning and detection, according to another embodiment of this application.

[0030] Figure label:

[0031] Solder conveyor belt 11; clamping and fixing assembly 12;

[0032] Automated soldering robot 21;

[0033] Transfer robot 31; visual positioning component 32; visual inspection component 33;

[0034] 41. Sorting conveyor belt; 42. Visual inspection weld joint assembly; 43. Partition plate; 44. Sorting component; 45. Labeling component;

[0035] Feeding device 5;

[0036] Gripping device 6;

[0037] Frame body 71; Electrical control cabinet 72; Human-machine interface 73; Safety control switch 74; Warning indicator light 75; Industrial control touch screen all-in-one machine 76. Detailed Implementation

[0038] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0039] In the description of this application, it should be understood that the use of terms such as "center," "middle," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential" to indicate orientation or positional relationships is based on the orientation or positional relationships shown in the accompanying drawings and is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, features defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0040] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0041] The following reference Figures 1 to 8 This application describes a fully automated soldering equipment that utilizes visual positioning and detection in its embodiments.

[0042] according to Figures 1 to 7 As shown, one embodiment of this application of a fully automated soldering equipment utilizing visual positioning and inspection includes a solder conveying device, an automatic soldering device, a visual positioning transfer device, and a sorting device. The solder conveying device includes at least one solder conveyor belt 11, which carries workpieces to be soldered and transports them to the soldering position. The automatic soldering device is located beside the solder conveyor belt 11 and includes an automatic soldering robot 21. The automatic soldering robot 21 is positioned corresponding to the solder conveyor belt 11 and is capable of performing soldering operations on the workpieces to be soldered on the conveyor belt. The visual positioning transfer device includes a transfer robot 31, a visual positioning component 32, and a visual inspection component 33, both of which are mounted on the transfer robot 31. The visual positioning component 32 identifies and positions the solder joints of the workpieces to be soldered on the solder conveyor belt 11; the visual inspection component 33 inspects the solder joints of the workpieces after soldering. The transfer robot 31 is positioned beside the solder conveyor belt 11 and can move to the location of the sorting device to transfer the soldered and inspected workpieces to the sorting device. The sorting device is located within the reach of the transfer robot 31, receives the soldered workpieces, and performs sorting processing.

[0043] In some embodiments, the solder conveying device includes multiple solder conveyor belts 11 for conveying multiple workpieces to be soldered. After the workpieces are placed on the solder conveyor belts 11, the automatic soldering device and the vision positioning and transfer device work together to complete operations such as solder joint identification, soldering, and post-soldering inspection. The transfer robot 31 in the vision positioning and transfer device moves sequentially to the workpiece position corresponding to each solder conveyor belt 11. The vision positioning component 32 installed on the transfer robot 31 identifies and positions the solder joints of the workpieces to be soldered. After identification, the automatic soldering robot 21 in the automatic soldering device performs soldering operations on the workpieces to be soldered on the corresponding solder conveyor belt 11 according to the solder joint position information provided by the vision positioning component 32. While the automatic soldering robot 21 is performing the soldering operation, the transfer robot 31 can simultaneously move to another solder conveyor belt 11 to prepare for the next round of solder joint identification on the workpieces thereon. After soldering, the workpieces are inspected for solder joint quality by the transfer robot 31 through the vision inspection component 33, and the inspected workpieces are transferred to a sorting device for classification processing.

[0044] This application's fully automated soldering equipment, utilizing visual positioning and inspection, achieves alternating cyclical operations of solder joint recognition, soldering, quality inspection, and workpiece sorting through the parallel operation of one or more solder conveyor belts 11 and the coordinated cooperation between the visual positioning transfer device and the automated soldering device. This effectively improves soldering efficiency and ensures the consistency and stability of soldering quality. Based on visual recognition, this application can pre-identify and store the corresponding coordinate information of solder joints during workpiece transport, enabling the automated soldering robot 21 to make real-time corrections based on the actual position during soldering operations, thereby improving the accuracy and stability of soldering operations. Simultaneously, the equipment supports single-track or multi-track parallel buffered operation modes. While one solder conveyor belt 11 is performing soldering operations, another conveyor belt can simultaneously complete solder joint recognition or inspection tasks, significantly shortening the overall cycle time and improving equipment operating efficiency.

[0045] In some embodiments, the automatic soldering device further includes an automatic soldering temperature control component, which is capable of automatically adjusting the soldering temperature of the automatic soldering robot 21.

[0046] according to Figures 1 to 7 As shown, in one embodiment of this application, two solder conveyor belts 11 are provided, namely a first solder conveyor belt 11 and a second solder conveyor belt 11. The first solder conveyor belt 11 and the second solder conveyor belt 11 are arranged in parallel to each other and are used to carry and transport the workpieces to be soldered. The first solder conveyor belt 11 and the second solder conveyor belt 11 are parallel to each other and are arranged on the equipment body, respectively forming two independent soldering stations.

[0047] An automatic soldering robot 21 is positioned beside the first and second soldering conveyor belts 11, with a range of motion covering both conveyor belts. It can switch between the two conveyor belts to perform soldering operations on the workpieces to be soldered. Similarly, a transfer robot 31 can switch between the first and second soldering conveyor belts 11 and transfer the workpieces to a sorting device after soldering.

[0048] During operation, workpieces to be soldered enter the first solder conveyor belt 11 and the second solder conveyor belt 11. The transfer robot 31 moves above the first solder conveyor belt 11, and the vision positioning component 32 identifies and locates the solder joint positions of the workpieces. The automatic soldering robot 21 then solders the workpieces on the first solder conveyor belt 11 based on the detection results. Simultaneously, the transfer robot 31 moves to the second solder conveyor belt 11 to inspect the solder joints of the next group of workpieces. After completing soldering on the first solder conveyor belt 11, the automatic soldering robot 21 switches to the second solder conveyor belt 11 for soldering operations, while the transfer robot 31 returns to the first solder conveyor belt 11 to inspect the solder joint quality of the soldered workpieces and transfer them to the sorting device. The two solder conveyor belts 11 alternate between each other.

[0049] Through multi-track parallel operation, it can realize parallel processing of multi-station solder joint identification, welding operation and post-weld inspection. It has the characteristics of compact cycle, high efficiency and strong welding stability, and is suitable for electronic device manufacturing scenarios with high requirements for welding accuracy and production efficiency.

[0050] In some embodiments, the solder conveying device includes only one solder conveyor belt 11. During operation, the workpiece to be soldered enters the solder conveyor belt 11. The transfer robot 31 first moves to the pre-soldering station, where the vision positioning component 32 identifies and positions the solder joint, and the automatic soldering robot 21 completes the soldering based on the detection information. After soldering is completed, the transfer robot 31 moves back above the workpiece, where the vision inspection component 33 judges the solder joint quality, and then transfers the workpiece to the sorting device.

[0051] according to Figures 1 to 7 As shown in one embodiment of this application, the solder conveying device further includes a clamping and fixing component 12. The clamping and fixing component 12 is installed beside the solder conveyor belt 11 and is used to mechanically clamp and position the workpiece after it reaches the soldering position. When the workpiece reaches the preset soldering station, the clamping and fixing component 12 clamps it, effectively preventing inaccurate solder joint positions due to vibration or displacement during the soldering process. This improves the stability of the workpiece during soldering, ensures the accuracy of visual positioning and the working precision of the soldering robot, thereby improving the overall soldering quality and equipment operational reliability.

[0052] In some embodiments, the clamping and fixing assembly 12 is configured as a translational push clamping member. In other embodiments, the clamping and fixing assembly 12 may also be configured as multiple jaws, elastic blocks, or other clamping members to accommodate workpieces of different sizes.

[0053] according to Figures 1 to 7 As shown, in one embodiment of this application, the fully automated soldering equipment utilizing visual positioning and detection further includes a feeding device 5 and a gripping device 6. The feeding device 5 is located at the front end of the solder conveyor belt 11 and is used to provide workpieces to be soldered. The gripping device 6 is located between the feeding device 5 and the solder conveyor belt 11, transferring the workpieces to be soldered from the feeding device 5 to the solder conveyor belt 11. By setting up the feeding device 5 and the gripping device 6, the workpieces to be soldered on the feeding device 5 can be sequentially removed during the work cycle and placed at designated positions on the solder conveyor belt 11, thereby achieving automatic feeding.

[0054] In some embodiments, the gripping device 6 is configured as a translational mechanical slide, and its end is provided with a clamping mechanism to grip the workpiece to be welded on the feeding device 5. In other embodiments, the gripping device 6 may also be configured as a gripping robot or a gripping robotic arm.

[0055] according to Figures 1 to 7 As shown, in one embodiment of this application, the sorting device includes a sorting conveyor belt 41 and a visual inspection solder joint assembly 42. The sorting conveyor belt 41 is located behind the solder conveyor belt 11 and is used to receive the completed soldering workpieces and transport them to the sorting position. The visual inspection solder joint assembly 42 is located above the sorting conveyor belt 41 and can collect image information of the soldering parts of the workpieces to determine the quality of the solder joints. The visual inspection solder joint assembly 42 is fixedly connected to the sorting conveyor belt 41 to maintain a stable inspection angle and ensure the clarity and accuracy of image recognition.

[0056] After the workpiece is transferred from the solder conveyor belt 11 to the sorting conveyor belt 41, it is transported to the inspection area by the sorting conveyor belt 41. The visual inspection solder joint component 42 performs image acquisition and analysis on the solder joint to determine whether there are defects in the solder joint.

[0057] The sorting device not only enables the conveying and classification of soldered workpieces, but also uses the visual inspection solder joint component 42 to detect the solder quality during the conveying process, thereby improving the accuracy of sorting, realizing closed-loop control of post-soldering quality, and effectively improving the yield and stability.

[0058] In some embodiments, the visual inspection solder joint assembly 42 specifically includes a split-type smart camera, a sensor, and a solder joint visual inspection control device. The sensor senses that the workpiece has arrived at the inspection area, the split-type smart camera acquires images of the soldered parts of the workpiece, and the solder joint visual inspection control device judges the solder quality according to preset parameters.

[0059] according to Figures 1 to 7 As shown, in one embodiment of this application, the sorting device further includes a screening component, which includes a partition 43 and a sorting component 44. The partition 43 is disposed on the sorting conveyor belt 41, and is arranged along the length of the sorting conveyor belt 41, fixedly installed in the middle of the conveyor belt or at an appropriate position, dividing the original single conveying path into two independent conveying channels, which are used to transport different categories of soldered workpieces, such as a qualified product channel and a non-qualified product channel. The sorting component 44 is disposed on the upper side of the sorting conveyor belt 41, corresponding to the screening area on the conveyor belt. The sorting component 44 cooperates with the partition 43, and through mechanical pushing, guides the workpiece to the designated conveying channel separated by the partition 43 according to the quality of the solder joint.

[0060] The partition 43 and the sorting component 44 work together to divide the physical channels of the workpieces on the sorting conveyor belt 41 and use the sorting component 44 to effectively divert and screen the workpieces, thereby achieving path diversion of the soldered workpieces, which improves the automation and accuracy of sorting and enhances the overall operating efficiency and reliability of the production line.

[0061] In some embodiments, the sorting device includes at least two sorting conveyor belts 41, including a first sorting conveyor belt 41 and a second sorting conveyor belt 41, which are used to transport qualified workpieces and unqualified workpieces, respectively. The two sorting conveyor belts 41 are located behind the solder conveyor belt 11. After the soldered workpieces have completed quality inspection, the transfer robot 31 places qualified workpieces on the first sorting conveyor belt 41 and unqualified workpieces on the second sorting conveyor belt 41 according to the inspection results, thereby achieving classified transportation.

[0062] according to Figures 1 to 7 As shown in one embodiment of this application, the sorting device further includes an marking component 45, which is positioned downstream of the sorting conveyor belt 41 to mark workpieces after solder joint inspection. The marking component 45 is installed above the sorting conveyor belt 41 and is fixedly connected to it to ensure that the marking action of the marking component 45 is aligned with the target workpiece. By using the marking component 45, workpieces after soldering can be quickly and accurately marked. Combined with the overall operation of the sorting device, this improves workpiece identification efficiency and facilitates subsequent process classification, transfer, and quality traceability management.

[0063] In some embodiments, the marking component 45 may be configured as an inkjet printhead, a laser marking head, or a mechanical marking device, capable of marking when the workpiece moves to a designated position.

[0064] according to Figures 1 to 7As shown in one embodiment of this application, both the visual positioning component 32 and the visual inspection component 33 are equipped with a visual camera, a light source, and a light source controller. The visual camera is installed at the end of both the visual positioning component 32 and the visual inspection component 33 to acquire image information of the workpiece to be welded or the already welded workpiece. The light source is arranged in coordination with the visual camera, installed around the visual camera, to provide stable and uniform illumination, ensuring clear image acquisition and high contrast. The light source controller is electrically connected to the light source and is used to adjust the brightness, frequency, and operating state of the light source to adapt to different surface materials, reflective properties, or changes in ambient light. Through the arrangement of the visual camera, light source, and light source controller, the visual positioning component 32 and the visual inspection component 33 can possess good imaging capabilities and environmental adaptability, accurately identifying the location and judging the quality of weld points under different working conditions, thereby improving the recognition accuracy and stability of the vision system.

[0065] according to Figures 1 to 8 As shown, in one embodiment of this application, the fully automatic soldering equipment utilizing visual positioning and inspection further includes a frame body 71 and an electrical control cabinet 72. The frame body 71 serves as the basic support structure for the fully automatic soldering equipment utilizing visual positioning and inspection, and is used to install and support various functional modules. The solder conveying device, the automatic soldering device, and the visual positioning transfer device are all housed within the frame body 71, resulting in a compact and reasonable structure that facilitates modular integration, installation, and maintenance of the overall equipment. The electrical control cabinet 72 is located at the lower end of the solder conveying device and is connected and fixed to the lower part of the frame body 71. It is used for centralized installation and management of the equipment's electrical wiring, drive modules, terminals, and other electrical control components.

[0066] All functional units are integrated into the frame body 71, resulting in a compact overall structure. This improves the installation stability, operational reliability, and maintenance convenience of the equipment, while also contributing to the integrated and standardized design of the entire machine.

[0067] In some embodiments, the fully automated soldering equipment utilizing visual positioning and detection also includes electrical control devices and drive control devices.

[0068] according to Figures 1 to 8As shown, in one embodiment of this application, the frame body 71 is further provided with a human-machine interface 73, a safety control switch 74, a warning indicator light 75, and an industrial control touch screen all-in-one machine 76. The human-machine interface 73 is located in the front operating area of ​​the frame body 71, facilitating operation by the operator within their standing line of sight. The safety control switch 74 is located near the human-machine operating area and includes an emergency stop button and a start button, used to immediately cut off the equipment's power supply or control signal in an emergency to ensure the safety of personnel and equipment. The warning indicator light 75 is located above the frame body 71 and indicates the equipment's operating status, such as standby, running, abnormal, and alarm, allowing operators to quickly understand the equipment's working status from a distance. The industrial control touch screen all-in-one machine 76 is located adjacent to the human-machine interface 73, integrating display and input functions for operators to perform parameter settings, program switching, and equipment monitoring. The operation-related control and display components are centrally located on the frame body 71, facilitating operation, improving both the ease of use and safety of the equipment, and also facilitating on-site management and rapid response, thus enhancing the industrial operability of the equipment.

[0069] In some embodiments, the safety control switch 74 is also provided with an indicator light to facilitate operator identification of the switch.

[0070] This application discloses a fully automatic soldering device that utilizes visual positioning and detection. By integrating a solder conveying device, an automatic soldering device, a visual positioning and transfer device, a sorting device, a feeding device 5, a gripping device 6, and a clamping and fixing assembly 12, a fully automatic soldering device is constructed, which can efficiently complete the entire process of solder joint identification, soldering operation, solder joint detection, and automatic sorting.

[0071] The following is the workflow of the dual-track parallel operation:

[0072] The workpieces to be soldered are first fed to the loading position by the loading device 5, and the gripping device 6 grips the workpieces and places them on the loading position of the first or second solder conveyor belt 11. After the workpieces are in place, they are mechanically clamped by the clamping and fixing component 12 to ensure their stable position during conveying and soldering. The transfer robot 31 moves above the current soldering position, and the vision positioning component 32 carried by the transfer robot 31 acquires images of the workpieces, identifies and locates the solder joint positions. After receiving the solder joint position information, the automatic soldering robot 21 completes the soldering operation on the current solder conveyor belt 11. During the soldering process, the soldering path is adjusted in real time according to the visually recognized solder joint positions to ensure soldering accuracy and consistency. While the automatic soldering robot 21 is performing soldering on the current track, the transfer robot 31 moves to another solder conveyor belt 11 to perform solder joint detection and positioning operations on the next group of workpieces to be soldered, preparing for the next round of soldering operations. After welding is completed, the transfer robot 31 returns to the welded workpiece and activates the vision inspection component 33 to acquire images and analyze the quality of the weld points, determining whether there are any incomplete welds, missing welds, or defective weld points. After the inspection, the transfer robot 31 transfers the workpiece to the sorting conveyor belt 41 of the sorting device based on the inspection results. The sorting conveyor belt 41 is equipped with partitions 43 along the conveying direction, dividing the conveyor belt into qualified product channels and unqualified product channels. The vision inspection weld point component 42 performs secondary imaging inspection on the weld points of the passing workpieces. At the channel entrance separated by the partitions 43, a classification component 44 is provided. After the vision inspection weld point component 42 determines the workpiece category, the classification component 44 pushes the workpiece into the corresponding qualified product channel or unqualified product channel. At the end of each channel, the marking component 45 marks the qualified products and / or unqualified products for subsequent manual re-inspection or rework.

[0073] The entire process alternates between the first solder conveyor belt 11 and the second solder conveyor belt 11, enabling simultaneous operation of multiple processes. While soldering is being performed at the current station, identification or inspection is performed at another station, forming a continuous closed loop of "identification-soldering-inspection-sorting" to achieve fully automated and efficient production.

[0074] In the description of this specification, the use of terms such as "an embodiment," "some examples," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples" indicates that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0075] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application.

Claims

1. A fully automated soldering equipment utilizing visual positioning and inspection, characterized in that: include A solder conveying device, the solder conveying device comprising at least one solder conveyor belt; An automatic soldering device, comprising an automatic soldering robot, the automatic soldering robot being used to perform soldering operations on workpieces to be soldered on the solder conveyor belt; Visual positioning transfer device; A sorting device is used to classify soldered workpieces. The visual positioning and transfer device includes a transfer robot, a visual positioning component, and a visual inspection component. The visual positioning component and the visual inspection component are both mounted on the transfer robot. The visual positioning component is used to identify and locate the solder joints of the workpiece to be soldered, and the visual inspection component is used to inspect the solder quality after soldering. The transfer robot is used to transfer the soldered workpiece to the sorting device.

2. The fully automated soldering equipment utilizing vision positioning and detection according to claim 1, characterized in that: The solder conveyor belt is configured as two belts, namely a first solder conveyor belt and a second solder conveyor belt, which are connected in parallel.

3. The fully automated soldering equipment utilizing vision positioning and detection according to claim 1, characterized in that: The solder conveying device also includes a clamping and fixing assembly disposed on the side of the solder conveyor belt.

4. The fully automated soldering equipment utilizing vision positioning and detection according to claim 1, characterized in that: It also includes a feeding device and a gripping device, wherein the gripping device transfers the workpiece to be soldered by the feeding device to the solder conveyor belt.

5. The fully automated soldering equipment utilizing vision positioning and detection according to claim 1, characterized in that: The sorting device includes a sorting conveyor belt and a visual inspection solder joint assembly, which is used to detect the solder quality of the workpieces on the sorting conveyor belt.

6. The fully automated soldering equipment utilizing visual positioning and detection according to claim 5, characterized in that: The sorting device further includes a screening component, which includes a partition and a sorting component. The partition is disposed on the sorting conveyor belt and divides the sorting conveyor belt into at least two conveying channels. The sorting component is used to push the soldered workpieces into the conveying channels.

7. The fully automated soldering equipment utilizing vision positioning and detection according to claim 6, characterized in that: The sorting device also includes an identification component for marking the workpiece.

8. The fully automated soldering equipment utilizing vision positioning and detection according to claim 1, characterized in that: Both the visual positioning component and the visual detection component are equipped with a visual camera, a light source, and a light source controller.

9. The fully automated soldering equipment utilizing vision positioning and detection according to claim 1, characterized in that: It also includes a frame body and an electrical control cabinet, the electrical control cabinet being located at the lower end of the solder conveying device, and the solder conveying device, the automatic soldering device, and the visual positioning and transfer device all being located within the frame body.

10. The fully automated soldering equipment utilizing vision positioning and detection according to claim 9, characterized in that: The frame body is also equipped with a human-machine interface, safety control switch, warning indicator light and industrial control touch screen all-in-one machine.

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