Robot manipulator for placing microelectronics components on printed circuit boards

Contents

Introduction

1. Purpose of the product

2. Process Description

3. Description of device and operation of the article as per schematic diagram and general view drawing

4. Description of the structure and operation of the main unit (assembly unit) as per the assembly drawing

5. Technical calculations

List of sources

1. Purpose of the product

The manipulator may be adapted to move any product into the corrugator from the conveyor line. This work is too monotonous for a person, so the packaging process is automated in many enterprises. Also, replacing a robot with a person increases the speed of packaging, which in turn can be an impetus to increase the total production capacity.

In addition, the manipulator can be used in soldering printed circuit boards. Some fees are so small that it is impossible for a person to perform rations of proper quality and with a small amount of marriage on his own .

Also, in the presence of machine vision, robot manipulators are placed on sorting lines.

Process Description

3.1 Manipulator for sorting

When sorting, the task of the robot is to determine what kind of object it is and then put it in the place that is assigned to this object.

1 - approach to the product and its recognition.

2 - article grip

3 - movement of the article to the desired point

4 - article descent.

In this process, the main step is to define the product parameters. After all, if the product is not defined correctly, then the entire sorting process will be disrupted.

3.2 Manipulator for soldering printed circuit boards

In this industry, the manipulator must perform the following tasks:

1 - placement of components on the printed circuit board

2 - approach to soldering place

3 - lowering to contact with board and ledge until solder paste heats up

4 - stop soldering at specified time

5 - tool retraction

Main actions in this process 2. This is the correct placement of components and the exact location of soldering. In addition, it must be software implemented, as well as such system speed, for the soldering process itself. The heating time of the solder paste must be accurately verified so that it does not lose its properties.

3.3 Manipulator Packer

Perhaps the easiest technological process for this manipulator. It consists in the fact that the finished products that are on the conveyor are continuously moving. The task of the manipulator is to understand the position of the product to lift it and lower it into a box or other packaging unit with an accurate location.

1 - approach to the article

2 - determination of its position on the conveyor

3 - gripping and moving to packing unit

4 - correct position of the article inside the assembly unit.

Description of the structure and operation of the main unit (assembly unit) as per the assembly drawing

The servomotor is attached to the cover by means of special attachment. Also, the servomotor is connected by means of a coupling with an IWP screw.

Characteristics of ST8680E step servomotor with encoder

Technical specifications:

Shaft diameter: 12.7 mm

Inductance: 3.0 mG

Torque, max.: 4.4 Nm

Engine operating temperature: 0.. 85 ° С

Winding resistance: 0.3 Ohm

Motor type: 2-phase CD

Current: 5.6 A

Accuracy: 5% (± 15 angular minutes)

Flange: 86 mm (NEMA 34)

Step: 1.8 ° (200 steps/rpm)

Encoder: optical incremental 4000 imp/v

The IWP screw is fixed on the cover, through thrust-radial bearings, both in radial and axial directions with the help of a nut.

The guides are fixed in the cover and in the base, they are also bearing structures.

In the base, the IWP screw is held only in the radial direction, through the radial bearing.

The IWP nut is attached to the platform by means of a flange connection. Slide guides pass through special carriages attached to the platform.

Inductive sensors are fixed on the base and on the cover.

Characteristics of inductive sensor E2BS08KS02MCB1 Omron

Manufacturer: OMRON

Sensor type: inductive

Sensor housing: M8

Case material: stainless steel

Length: 44 mm

Head type: shielded

Output Configuration: PNP/NO

Range: 0... 2 mm

Maximum switching frequency: 1500 Hertz

Supply voltage: 10... 30 DC volt

Number of pins: 3, M8 3PIN

Degree of protection: IP67

Maximum operating current: 200 mA

Operating temperature range: 25... + 70 ° C

Conclusion

In the work on this project, the mechanical part of the module of vertical movement of the manipulator was designed. Calculations were carried out to justify the selection of these components. This manipulator can perform the functions of a sorter, solder printed circuit boards, pack finished products in boxes, etc. Also, the manipulator has the possibility for further modifications.

The graphic part contains kinematic diagram of the whole device, as well as drawings of the whole device, vertical displacement module and several its parts.